Chess playing robot

Abstract

The utility model relates to a chess playing robot which comprises a chessboard and a mechanical arm, the mechanical arm is used for picking up and moving chess pieces on the chessboard, and the mechanical arm comprises a base used for being detachably connected with the chessboard; the picking mechanism is used for picking and placing chess pieces on the chessboard, the picking mechanism comprises a first hinge hole and a second hinge hole, and the axes of the first hinge hole and the second hinge hole are parallel to each other and are arranged at intervals in the direction perpendicular to the chessboard; the driving mechanism is used for being in transmission connection with the base and the first hinge hole and driving the picking mechanism to move relative to the chessboard; one end of the connecting rod mechanism is in transmission connection with the base through the driving mechanism, the other end is in transmission connection with the second hinge hole, and the connecting rod mechanism moves along with the driving mechanism and pulls the picking mechanism to rotate around the first hinge hole so as to keep the posture of the picking mechanism perpendicular to the chessboard all the time. The mechanical arm of the chess playing robot comprises the connecting rod mechanism, and the connecting rod mechanism can limit rotation of the picking mechanism around the first hinge hole so as to keep the posture of the chess piece.

Description

Technical Field

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

[0002] Existing chess-playing robots include a chessboard and a robotic arm. When the robotic arm moves chess pieces on the chessboard, the posture of the chess pieces may change with the movement of the robotic arm, making it impossible to place the chess pieces stably on the chessboard. Utility Model Content

[0003] In view of the above-mentioned technical problems, the purpose of this application is to provide a chess-playing robot that can smoothly pick up and place chess pieces, which specifically includes the following technical solutions:

[0004] An embodiment of the present application provides a chess-playing robot, comprising a chessboard and a robotic arm, wherein the robotic arm is used to pick up and move chess pieces on the chessboard, and the robotic arm includes a base, a picking mechanism, a driving mechanism, and a connecting rod mechanism. The base is used to be detachably connected to the chessboard, and the picking mechanism is used to pick up and place chess pieces on the chessboard. The picking mechanism includes a first hinge hole and a second hinge hole, and the axes of the first hinge hole and the second hinge hole are parallel to each other and arranged at intervals in a direction perpendicular to the chessboard; the driving mechanism is used to transmit and connect the base and the first hinge hole, and the driving mechanism is used to drive the picking mechanism to move relative to the chessboard; one end of the connecting rod mechanism is used to transmit and connect to the base through the driving mechanism, and the other end is used to transmit and connect to the second hinge hole, and the connecting rod mechanism is used to move with the driving mechanism and drive the picking mechanism to rotate around the first hinge hole to keep the posture of the picking mechanism always perpendicular to the chessboard.

[0005] The mechanical arm of the chess-playing robot in the present application includes a base, a picking mechanism and a driving mechanism. The base is connected to the chessboard, and the driving mechanism is transmission-connected between the first hinge hole of the picking mechanism and the base. The driving mechanism and the picking mechanism cooperate with each other to move the position of the chess piece on the chessboard.

[0006] The robotic arm of the chess-playing robot in the present application also includes a connecting rod mechanism, which is transmission-connected between the second hinge hole of the picking mechanism and the driving mechanism. The connecting rod mechanism can move with the driving mechanism to limit the rotation of the picking mechanism around the first hinge hole, thereby ensuring that the posture of the picking mechanism is always perpendicular to the chessboard, avoiding the posture of the chess piece from changing in the process of the driving mechanism driving the picking mechanism to move, resulting in the chess piece being unable to be placed stably on the chessboard.

[0007] In one embodiment, the driving mechanism includes a turntable, a first movable arm and a second movable arm. The turntable is rotatably connected to the base, the rotation axis of the turntable is perpendicular to the chessboard, the two ends of the first movable arm are rotatably connected to the turntable and the second movable arm respectively, and the end of the second movable arm away from the first movable arm is used to be rotatably connected to the first hinge hole, and the rotation axes of the two ends of the first movable arm are parallel to the axis of the first hinge hole.

[0008] In this embodiment, the turntable, the first movable arm and the second movable arm in the driving mechanism can move separately to drive the picking mechanism to translate relative to the chessboard, thereby realizing the function of the robotic arm moving the chess piece.

[0009] In one embodiment, the driving mechanism includes three motors fixed to the turntable, and the three motors are respectively used to drive the turntable to rotate relative to the base, the first movable arm to rotate relative to the turntable, and the second movable arm to rotate relative to the first movable arm.

[0010] In this embodiment, the three motors of the driving mechanism are used to drive the turntable, the first movable arm and the second movable arm to move respectively, thereby realizing the function of the robotic arm to move the chess piece; at the same time, the motors are all fixed to the turntable, which can reduce the mass of the first movable arm and the second movable arm, thereby reducing the output power of the three motors and reducing the power consumption of the robotic arm.

[0011] In one embodiment, the driving mechanism includes a first transmission member and a second transmission member, the first transmission member includes a first worm and a first worm wheel, the first worm wheel is fixedly connected to the first movable arm toward one end of the turntable, and the first worm is transmission-connected between a motor and the first worm wheel; and / or the second transmission member includes a second worm, a second worm wheel and a transmission rod, the second worm wheel is rotationally connected to the first movable arm toward one end of the turntable, the second worm is transmission-connected between another motor and the second worm wheel, and both ends of the transmission rod are rotationally connected to the second worm wheel and the second movable arm respectively, and the rotation axes of both ends of the transmission rod are parallel to the axis of the first hinge hole.

[0012] In this embodiment, a first transmission element is used to connect a motor to the first movable arm, and a second transmission element is used to connect another motor to the second movable arm, thereby enabling the robotic arm to move the chess piece. The self-locking worm gear drive mechanism employed by the first and second transmission elements eliminates power consumption when the robotic arm is not in motion, reducing overall power consumption. This allows the machine to operate solely on a built-in, small-capacity lithium battery without the need for an external power adapter, enhancing its portability.

[0013] In one embodiment, the connecting rod mechanism includes a first connecting rod, a second connecting rod and a connecting member, the connecting member includes a first through hole, the first through hole is rotatably connected to the rotating shaft between the first movable arm and the second movable arm, the two ends of the first connecting rod are rotatably connected to the turntable and the connecting member respectively, the two ends of the second connecting rod are rotatably connected to the connecting member and the second hinge hole respectively, and the rotation axis of the two ends of the first connecting rod and the rotation axis of the two ends of the second connecting rod are parallel to the axis of the first hinge hole.

[0014] In this embodiment, the first connecting rod, the second connecting rod and the connecting member cooperate with each other. The first connecting rod is used to limit the rotation angle of the connecting member around the first through hole. The second connecting rod cooperates with the connecting member to limit the rotation angle of the picking mechanism around the first hinge hole, and ensures that when the robotic arm is connected to the chessboard, the posture of the picking mechanism is always perpendicular to the chessboard.

[0015] In one embodiment, the connecting member includes a second through hole and a third through hole, any two of the first through hole, the second through hole and the third through hole are spaced apart from each other, the axes of the second through hole and the third through hole are parallel to the axis of the first through hole, the end of the first connecting rod away from the turntable is rotatably connected to the second through hole, and the end of the second connecting rod away from the second hinge hole is rotatably connected to the third through hole.

[0016] In this embodiment, the first connecting rod and the second connecting rod are rotatably connected to the second through hole and the third through hole of the connecting member respectively to limit the rotation angle of the picking mechanism around the first hinge hole and keep the posture of the picking mechanism always perpendicular to the chessboard.

[0017] In one embodiment, the distance between the axis of the first hinge hole and the axis of the second hinge hole is equal to the distance between the axis of the first through hole and the axis of the third through hole; and / or the distance between the axis of the first hinge hole and the axis of the first through hole is equal to the distance between the axis of the second hinge hole and the axis of the third through hole.

[0018] In this embodiment, the axes of the first hinge hole, the second hinge hole, the first through hole and the third through hole form a quadrilateral, the second connecting rod will rotate synchronously with the second movable arm, and the posture of the connecting part relative to the turntable remains unchanged, so that the posture of the picking mechanism relative to the turntable remains unchanged, thereby achieving the posture of the picking mechanism always being perpendicular to the chessboard.

[0019] In one embodiment, the housing of the first movable arm and the housing of the second movable arm are respectively formed with a first receiving cavity and a second receiving cavity, the first connecting rod is at least partially located in the first receiving cavity, and the second connecting rod is at least partially located in the second receiving cavity.

[0020] In this embodiment, the first connecting rod is located in the first receiving cavity formed by the shell of the first movable arm, and the second connecting rod is located in the second receiving cavity formed by the shell of the second movable arm. The first connecting rod and the second connecting rod are respectively located in the first receiving cavity and the second receiving cavity, thereby preventing external substances from affecting the normal operation of the connecting rod mechanism and making the overall robotic arm more beautiful.

[0021] In one embodiment, the picking mechanism includes a magnetic member and an isolation member. The magnetic member is located on the side of the isolation member away from the chessboard and is slidably connected to the isolation member. The magnetic member is used to slide toward or away from the isolation member to pick up or place chess pieces on the chessboard.

[0022] In this embodiment, the magnetic element slides toward the isolation element, and the distance between the magnetic element and the chess piece decreases, so that the magnetic force of the magnetic element on the chess piece is greater than or equal to the gravity of the chess piece, so that the picking mechanism picks up the chess piece; the magnetic element slides in the direction away from the isolation element, and the distance between the magnetic element and the chess piece increases, so that the magnetic force of the magnetic element on the chess piece is less than the gravity of the chess piece, so that the picking mechanism places the chess piece.

[0023] In one embodiment, the isolating member includes a protrusion extending toward the chessboard, and a receiving groove is provided on the side of the isolating member facing the magnetic member. When the picking mechanism picks up the chess piece, the receiving groove is used to receive at least part of the magnetic member.

[0024] In this embodiment, the picking mechanism can pick up the chess piece by contacting the chess piece through the protrusion, and the accommodating groove can reduce the distance between the magnetic element and the chess piece, ensuring the suction force of the magnetic element on the chess piece, so that the picking mechanism can stably drive the chess piece to move; at the same time, the connecting rod mechanism is used to limit the posture of the picking mechanism so that the protrusion of the isolation member is always perpendicular to the chessboard, so that the picking mechanism can pick up or place the chess piece. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 A schematic structural diagram of a chess-playing robot provided in one embodiment of the present application, in which a chessboard and a robotic arm are connected;

[0026] Figure 2 This is a partial structural diagram of a chess-playing robot provided in one embodiment of the present application;

[0027] Figure 3 This is a schematic diagram of a portion of the structure of a chess-playing robot from a first perspective provided in another embodiment of the present application;

[0028] Figure 4 This is a partial structural diagram of a chess-playing robot from a second perspective provided in another embodiment of the present application;

[0029] Figure 5 This is a structural schematic diagram of a connecting rod mechanism provided in another embodiment of the present application;

[0030] Figure 6 This is a schematic structural diagram of a connecting member provided in another embodiment of the present application;

[0031] Figure 7 This is a schematic structural diagram of another connecting rod mechanism provided in another embodiment of the present application;

[0032] Figure 8 This is a partial structural diagram of a chess-playing robot from a third perspective provided in another embodiment of the present application;

[0033] Figure 9This is a structural schematic diagram of a first transmission member and a first motor provided in another embodiment of the present application;

[0034] Figure 10 This is a schematic diagram of a portion of the structure of a chess-playing robot from a fourth perspective provided in another embodiment of the present application;

[0035] Figure 11 A schematic diagram of a portion of the structure of a robotic arm provided in another embodiment of the present application;

[0036] Figure 12 This is a schematic structural diagram of a base provided in another embodiment of the present application;

[0037] Figure 13 This is a schematic structural diagram of a pickup mechanism, a display screen, and a camera provided in one embodiment of the present application;

[0038] Figure 14 This is a partial structural diagram of a picking mechanism in a placement state provided in one embodiment of the present application;

[0039] Figure 15 A schematic diagram of a portion of the structure of a pickup mechanism in a pickup state provided in one embodiment of the present application

[0040] Figure 16 A schematic structural diagram of a chessboard with a chessboard pattern from one viewing angle provided in one embodiment of the present application;

[0041] Figure 17 A schematic structural diagram of a chessboard with a chessboard pattern from another perspective provided in one embodiment of the present application;

[0042] Figure 18 A schematic structural diagram of a chess-playing robot with a mechanical arm positioned in a groove, provided in one embodiment of the present application, from one perspective;

[0043] Figure 19 A schematic structural diagram of a chess-playing robot with a mechanical arm positioned in a groove, provided from another perspective in one embodiment of the present application;

[0044] Figure 20 This is a schematic structural diagram of a chessboard from a first perspective provided in one embodiment of the present application;

[0045] Figure 21 A schematic structural diagram of a chessboard from a second perspective provided in one embodiment of the present application;

[0046] Figure 22 This is a schematic structural diagram of a chessboard from a third perspective provided in one embodiment of the present application;

[0047] Figure 23This is a schematic diagram of the partial structure of a chessboard provided in another embodiment of the present application. DETAILED DESCRIPTION

[0048] To facilitate understanding of the present application, a more comprehensive description of the present application will be provided below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure of the present application.

[0049] The following descriptions of the embodiments are with reference to the attached diagrams to illustrate specific embodiments that the present application can be used to implement. The serial numbers of the components herein, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in the present application include direct and indirect connections (couplings) unless otherwise specified. The directional terms mentioned in the present application, such as "up", "down", "front", "back", "left", "right", "inside", "outside", "side", etc., are only with reference to the directions of the attached drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the present application, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0050] Chess is an educational and entertaining puzzle game. Common chess games require two or more players. A chess robot can act as an opponent, playing against a user. The robot consists of a chessboard, a camera, and a robotic arm. The camera captures the chess pieces on the board during the current round. The robot's internal processor, an external processor, or a cloud-based processor performs visual processing to obtain the position information of each piece in the current round. Based on this position information, the robot calculates the next round's strategy. The robotic arm receives the strategy and moves the pieces on the board. After the user makes a move, the robot repeats these steps, allowing the robot to play against the user.

[0051] See also Figure 1 and Figure 2 ,in Figure 1 A schematic diagram of the structure of a chess-playing robot 100 in which a chessboard 20 and a robotic arm 10 are connected is shown in one embodiment of the present application; Figure 2 A partial structural diagram of a chess-playing robot 100 provided in one embodiment of the present application is illustrated.

[0052] The present application provides a chess-playing robot 100, comprising a chessboard 20 ( Figure 1 and Figure 2The present invention relates to a chessboard 20, wherein the chessboard 20 comprises a chess piece picking up and moving the chess piece on the chessboard 20. The chess piece picking up and placing the chess piece on the chessboard 20 comprises a first hinge hole 131 and a second hinge hole 132. The axes of the first hinge hole 131 and the second hinge hole 132 are parallel to each other and arranged at intervals in a direction perpendicular to the chessboard 20. The driving mechanism 12 is used for transmission connection between the base 11 and the first hinge hole 131. The driving mechanism 12 is used for driving the picking up mechanism 13 to move relative to the chessboard 20.

[0053] Specifically, in one embodiment, Figure 1 and Figure 2 As shown, the two shells 21 are arranged in a direction perpendicular to the thickness of the shells 21, and the first planes 201 of the two shells 21 are aligned and spliced to form the surface of the chessboard 20, which is used to carry chess pieces. The robotic arm 10 includes a base 11, a driving mechanism 12 and a picking mechanism 13. The base 11 is detachably connected to the side walls of the two shells 21 respectively, and the picking mechanism 13 is used to pick up or place chess pieces on the chessboard. The driving mechanism 12 is transmission-connected between the base 11 and the picking mechanism 13, and the driving mechanism 12 is used to drive the picking mechanism 13 to move relative to the chessboard 20. The driving mechanism 12 and the picking mechanism 13 work together to move the chess pieces on the board.

[0054] It should be pointed out that in Figure 1 In the chess-playing robot 100 provided, the picking mechanism 13 is integrated with a camera 50 ( Figure 1 (not specified in the figure), when the driving mechanism 12 drives the picking mechanism 13 to move, it can synchronously drive the camera 50 to move relative to the chessboard 20, so that the camera 50 can shoot the chess pieces on the chessboard from multiple angles and obtain more accurate chess piece position information based on multiple photographs.

[0055] In addition, Figure 1 In the provided chess-playing robot 100, the picking mechanism 13 is also integrated with a display screen 30, which can display basic information of the camera 50, processor or robotic arm 10, such as the power on / off status and the current operating status; or record the status of the current chess game, such as the number of rounds, the number of chess pieces on both sides and the winning rate of both sides; or display the rules of the current chess game to help novice users; or display expressions and play sounds in combination with the speaker, such as giving the user voice prompts on the next round of chess moves, voice broadcasts of game wins and losses, etc., making the chess-playing robot 100 more vivid.

[0056] See also Figure 3-Figure 5 ,in, Figure 3A partial structural diagram of a chess-playing robot 100 from a first perspective provided in another embodiment of the present application is shown; Figure 4 A partial structural diagram of a chess-playing robot 100 from a second perspective provided in another embodiment of the present application is shown; Figure 5 A structural diagram of a connecting rod mechanism 14 provided in another embodiment of the present application is illustrated.

[0057] The chess-playing robot 100 of the present application also includes a connecting rod mechanism 14, one end of which is used to be connected to the base 11 through the driving mechanism 12, and the other end is used to be connected to the second hinge hole 132. The connecting rod mechanism 14 is used to move with the driving mechanism 12 and drive the picking mechanism 13 to rotate around the first hinge hole 131 to keep the posture of the picking mechanism 13 always perpendicular to the chessboard 20.

[0058] When the two shells 21 of the chess-playing robot 100 of the present application rotate toward each other and fold the chessboard 20, the two second planes 202 fit together, and the two grooves 203 are connected to form a receiving cavity for accommodating the robotic arm 10.

[0059] Specifically, in one embodiment, Figure 3-Figure 5 As shown, the connecting rod mechanism 14 includes a first connecting rod 141, a second connecting rod 142 and a connecting member 143, the connecting member 143 includes a first through hole 1431, the first through hole 1431 is rotatably connected to the rotating shaft 1221 between the first movable arm 121 and the second movable arm 122, the two ends of the first connecting rod 141 are rotatably connected to the turntable 123 and the connecting member 143 respectively, the two ends of the second connecting rod 142 are rotatably connected to the connecting member 143 and the second hinge hole 132 respectively, and the rotation axes of the two ends of the first connecting rod 141 and the two ends of the second connecting rod 142 are parallel to the axis of the first hinge hole 131.

[0060] exist Figure 3 In the provided chess-playing robot 100, during the rotation of the first movable arm 121 relative to the turntable 123, the first connecting rod 141 is used to limit the rotation of the connecting member 143 around the first through hole 1431, and the connecting member 143 limits the rotation of the picking mechanism 13 around the first hinge hole 131 through the second connecting rod 142, so that the posture of the picking mechanism 13 is always perpendicular to the chessboard 20.

[0061] The robotic arm 10 of the chess-playing robot 100 of the present application includes a base 11, a picking mechanism 13 and a driving mechanism 12. The base 11 is connected to the chessboard 20. The driving mechanism 12 is transmission-connected between the first hinge hole 131 of the picking mechanism 13 and the base 11. The driving mechanism 12 and the picking mechanism 13 cooperate with each other to move the position of the chess piece on the chessboard 20.

[0062] In existing chess-playing robots, the robotic arm is fixed on the chessboard. When the robotic arm moves the chess pieces on the chessboard, the posture of the robotic arm's grasping mechanism changes, thereby changing the posture of the chess pieces, making it impossible for the chess pieces to be placed stably on the chessboard after moving.

[0063] The robotic arm 10 of the chess-playing robot 100 of the present application also includes a connecting rod mechanism 14, which is transmission-connected between the second hinge hole 132 of the picking mechanism 13 and the driving mechanism 12. The connecting rod mechanism 14 can move with the driving mechanism 12 to limit the rotation of the picking mechanism 13 around the first hinge hole 131, thereby ensuring that the posture of the picking mechanism 13 is always perpendicular to the chessboard 20, avoiding the posture of the chess piece from changing in the process of the driving mechanism 12 driving the picking mechanism 13 to move, resulting in the chess piece being unable to be placed stably on the chessboard.

[0064] exist Figure 3 In the provided chess-playing robot 100, the driving mechanism 12 includes a turntable 123, a first movable arm 121 and a second movable arm 122. The turntable 123 is rotatably connected to the base 11, and the rotation axis of the turntable 123 is perpendicular to the chessboard 20. The two ends of the first movable arm 121 are rotatably connected to the turntable 123 and the second movable arm 122 respectively. The end of the second movable arm 122 away from the first movable arm 121 is used for rotatably connecting to the first hinge hole 131, and the rotation axes of the two ends of the first movable arm 121 are parallel to the axis of the first hinge hole 131.

[0065] In one embodiment, the robotic arm 10 includes a connecting rod mechanism 14, one end of the connecting rod mechanism 14 is used to transmit and connect to the turntable 123 through the driving mechanism 12, and the other end is used to transmit and connect to the second hinge hole 132. The connecting rod mechanism 14 is used to move with the driving mechanism 12 and drive the picking mechanism 13 to rotate around the first hinge hole 131 to keep the posture of the picking mechanism 13 always perpendicular to the chessboard 20.

[0066] In one embodiment, if Figure 4 and Figure 5 As shown, the connecting rod mechanism 14 includes a first connecting rod 141, a second connecting rod 142 and a connecting member 143, the connecting member 143 includes a first through hole 1431, the first through hole 1431 is rotatably connected to the rotating shaft 1221 between the first movable arm 121 and the second movable arm 122, the two ends of the first connecting rod 141 are rotatably connected to the turntable 123 and the connecting member 143 respectively, the two ends of the second connecting rod 142 are rotatably connected to the connecting member 143 and the second hinge hole 132 respectively, and the rotation axes of the two ends of the first connecting rod 141 and the two ends of the second connecting rod 142 are parallel to the axis of the first hinge hole 131.

[0067] exist Figure 4In the provided chess-playing robot 100, during the rotation of the first movable arm 121 relative to the turntable 123, the first connecting rod 141 is used to limit the rotation of the connecting member 143 around the first through hole 1431, and the connecting member 143 limits the rotation of the picking mechanism 13 around the first hinge hole 131 through the second connecting rod 142, so that the posture of the picking mechanism 13 is always perpendicular to the chessboard 20.

[0068] See also Figure 6 A schematic structural diagram of a connecting member 143 provided in another embodiment of the present application is shown.

[0069] In one embodiment, the connecting member 143 includes a second through hole 1432 and a third through hole 1433, any two of the first through hole 1431, the second through hole 1432 and the third through hole 1433 are spaced apart from each other, the axes of the second through hole 1432 and the third through hole 1433 are parallel to the axis of the first through hole 1431, the end of the first connecting rod 141 away from the turntable 123 is rotatably connected to the second through hole 1432, and the end of the second connecting rod 142 away from the second hinge hole 132 is rotatably connected to the third through hole 1433.

[0070] exist Figure 6 In the provided connecting member 143, the connecting member 143 includes a second through hole 1432 and a third through hole 1433. The first connecting rod 141 and the second connecting rod 142 are rotatably connected to the connecting member 143 through the second through hole 1432 and the third through hole 1433 respectively. Figure 4 The turntable 123 includes a first connecting shaft 1231 and a second connecting shaft 1232, the axis of the first connecting shaft 1231 and the axis of the second connecting shaft 1232 are parallel to each other, the first movable arm 121 is rotatably connected to the first connecting shaft 1231, the first connecting rod 141 is rotatably connected to the second connecting shaft 1232, the line between the axis of the first through hole 1431 and the axis of the second through hole 1432 is parallel to the line between the axis of the first connecting shaft 1231 and the axis of the second connecting shaft 1232, and the first connecting rod 141 is used to limit the rotation angle of the connecting member 143 around the first through hole 1431.

[0071] Similarly, in Figure 4 In the provided chess-playing robot 100, the ends of the second connecting rod 142 are rotatably connected to the third through hole 1433 and the second hinge hole 132, respectively. The line connecting the axis of the first through hole 1431 and the axis of the third through hole 1433 is parallel to the line connecting the axis of the first hinge hole 131 and the axis of the second hinge hole 132. The second connecting rod 142 is used to limit the distance between the third through hole 1433 and the second hinge hole 132. The second connecting rod 142 cooperates with the connecting member 143 to limit the rotation angle of the pickup mechanism 13 about the first hinge hole 131, ensuring that the pickup mechanism 13 always maintains a perpendicular posture relative to the chessboard 20 when the robotic arm 10 is connected to the chessboard 20.

[0072] In one embodiment, the distance between the axis of the first through hole 1431 and the axis of the second through hole 1432 is equal to the distance between the axis of the first connecting shaft 1231 and the axis of the second connecting shaft 1232 .

[0073] In another embodiment, the distance between the axis of the second through hole 1432 and the axis of the second connecting shaft 1232 is equal to the distance between the axis of the first through hole 1431 and the axis of the first connecting shaft 1231 .

[0074] exist Figure 4 In the provided chess-playing robot 100, the distance between the axis of the first through hole 1431 and the axis of the second through hole 1432 is equal to the distance between the axis of the first connecting shaft 1231 and the axis of the second connecting shaft 1232, and the distance between the axis of the second through hole 1432 and the axis of the second connecting shaft 1232 is equal to the distance between the axis of the first through hole 1431 and the axis of the first connecting shaft 1231, so that the axes of the first through hole 1431, the second through hole 1432, the first connecting shaft 1231 and the second connecting shaft 1232 form a parallelogram, and the first connecting rod 141 will rotate synchronously with the first movable arm 121, and the first movable arm 121 drives the connecting member 143 to translate, and the posture of the connecting member 143 relative to the turntable 123 remains unchanged.

[0075] In one embodiment, the distance between the axis of the first hinge hole 131 and the axis of the second hinge hole 132 is equal to the distance between the axis of the first through hole 1431 and the axis of the third through hole 1433 .

[0076] In another embodiment, the distance between the axis of the first hinge hole 131 and the axis of the first through hole 1431 is equal to the distance between the axis of the second hinge hole 132 and the axis of the third through hole 1433 .

[0077] exist Figure 4 In the provided chess-playing robot, the distance between the axis of the first hinge hole 131 and the axis of the second hinge hole 132 is equal to the distance between the axis of the first through hole 1431 and the axis of the third through hole 1433, and the distance between the axis of the first hinge hole 131 and the axis of the first through hole 1431 is equal to the distance between the axis of the second hinge hole 132 and the axis of the third through hole 1433, so that the axes of the first hinge hole 131, the second hinge hole 132, the first through hole 1431 and the third through hole 1433 form a parallelogram, and the second connecting rod 142 will rotate synchronously with the second movable arm 122. Since the posture of the connecting member 143 relative to the turntable 123 remains unchanged, the posture of the picking mechanism 13 relative to the turntable 123 remains unchanged, thereby achieving that the posture of the picking mechanism 13 is always perpendicular to the chessboard 20.

[0078] In one embodiment, the housing of the first movable arm 121 and the housing of the second movable arm 122 are respectively formed with a first receiving cavity and a second receiving cavity, the first connecting rod 141 is at least partially located in the first receiving cavity, and the second connecting rod 142 is at least partially located in the second receiving cavity. Figure 4 In the provided chess-playing robot 100, the first connecting rod 141 is located in a first receiving cavity formed by the shell of the first movable arm 121, and the second connecting rod 142 is located in a second receiving cavity formed by the shell of the second movable arm 122. The first connecting rod 141 and the second connecting rod 142 are respectively located in the first receiving cavity and the second receiving cavity, thereby preventing external substances from affecting the normal operation of the connecting rod mechanism 14 and making the overall robotic arm 10 more beautiful.

[0079] See also Figure 7 Schematic diagram of the structure of another connecting rod mechanism 14 provided in another embodiment of the present application.

[0080] exist Figure 7 In the provided connecting rod mechanism 14, the connecting rod mechanism 14 includes two first connecting rods 141 and two connecting members 143. The two connecting members 143 are arranged on both sides of the second connecting rod 142 along the rotation axis of the second connecting rod 142. The two first connecting rods 141 are respectively rotatably connected to the second through holes 1432 of the two connecting members 143. The third through holes 1433 of the two connecting members 143 are respectively connected to the end of the second connecting rod 142 away from the picking mechanism 13. It can be understood that the two connecting members 143 and the two first connecting rods 141 arranged on both sides of the second connecting rod 142 can balance the component force of the second connecting rod 142 along its rotation axis, thereby ensuring that the connecting rod mechanism 14 can work normally for a long time.

[0081] See also Figure 8 A schematic diagram of the partial structure of a chess-playing robot 100 from a third perspective provided in another embodiment of the present application is shown.

[0082] In one embodiment, the driving mechanism 12 includes three motors, which are fixed to the turntable 123 and respectively used to drive the turntable 123 to rotate relative to the base 11, the first movable arm 121 to rotate relative to the turntable 123, and the second movable arm 122 to rotate relative to the first movable arm 121.

[0083] See also Figure 9 A schematic structural diagram of the first transmission member 161 and the first motor 151 provided in another embodiment of the present application is shown.

[0084] In one embodiment, the driving mechanism 12 includes a first transmission member 161 and a second transmission member 162. The first transmission member 161 includes a first worm gear 1611 and a first worm 1612. The first worm gear 1611 is fixedly connected to one end of the first movable arm 121 toward the turntable 123. The first worm gear 1612 is transmission-connected between a motor and the first worm gear 1611.

[0085] exist Figure 8 In the chess-playing robot 100 provided, the driving mechanism 12 includes a first motor 151 and a first transmission member 161. The first motor 151 is connected to the first movable arm 121 through the first transmission member 161. The first motor 151 is used to drive the first movable arm 121 to rotate relative to the turntable 123. Figure 4 and Figure 9 The first transmission member 161 includes a first worm gear 1611 and a first worm 1612. The first worm gear 1611 is rotationally connected to the first connecting shaft 1231 and is fixedly connected to the first movable arm 121. The first worm gear 1612 is transmission-connected between the first worm gear 1611 and the first motor 151. The first motor 151 drives the first worm gear 1611 to rotate around the first connecting shaft 1231 to realize the rotation of the first movable arm 121 relative to the turntable 123.

[0086] See also Figure 10 and Figure 11 ,in, Figure 10 A partial structural diagram of a chess-playing robot 100 in a fourth perspective provided in another embodiment of the present application is shown; Figure 11 A partial structural diagram of a robotic arm 10 provided in another embodiment of the present application is illustrated.

[0087] In one embodiment, the second transmission member 162 includes a second worm gear 1621, a second worm 1622 and a transmission rod 1623. The second worm gear 1621 is rotatably connected to one end of the first movable arm 121 toward the turntable 123. The second worm gear 1622 is transmission-connected between another motor and the second worm gear 1621. The two ends of the transmission rod 1623 are rotatably connected to the second worm gear 1621 and the second movable arm 122 respectively. The rotation axes of the two ends of the transmission rod 1623 are parallel to the axis of the first hinge hole 131.

[0088] exist Figure 10 In the chess-playing robot 100 provided, the driving mechanism 12 includes a second motor 152 and a second transmission member 162. The second motor 152 is connected to the second movable arm 122 through the second transmission member 162. The second motor 152 is used to drive the second movable arm 122 to rotate relative to the first movable arm 121. Figure 11The second transmission member 162 includes a second worm gear 1621, a second worm 1622 and a transmission rod 1623. The second worm gear 1621 is rotatably connected to the first connecting shaft 1231. The second worm 1622 is transmission-connected between the second worm gear 1621 and the second motor 152. The second worm gear 1621 includes a first connecting hole. The axis of the first connecting hole is parallel to the axis of the first connecting shaft 1231 and spaced apart from each other. The second movable arm 122 includes a second connecting hole 1222. The axis of the second connecting hole 1222 is spaced apart from the first movable arm 1 21 and the axis of the rotating shaft 1221 between the second movable arm 122, the two ends of the transmission rod 1623 are respectively rotatably connected to the first connecting hole of the second worm gear 1621 and the second connecting hole 1222 of the second movable arm 122, the second motor 152 drives the second worm gear 1621 to rotate around the first connecting shaft 1231 through the second worm gear 1622, and the second worm gear 1622 drives the second movable arm 122 to rotate around the rotating shaft 1221 through the transmission rod 1623, so as to realize the rotation of the second movable arm 122 relative to the first movable arm 121.

[0089] It can be understood that the second movable arm 122 is driven by the second motor 152 fixed to the turntable 123, which can reduce the mass of the second movable arm 122, reduce the output power of the second motor 152, and reduce the power consumption of the robot arm 10.

[0090] See also Figure 12 A schematic structural diagram of a base 11 provided in another embodiment of the present application is shown.

[0091] exist Figure 12 In the provided base 11, the base 11 is fixed with a gear 111, please combine Figure 10 The driving mechanism 12 further includes a third motor 153 , which is fixed to the turntable 123 . The output shaft of the third motor 153 is engaged with the gear 111 to enable the turntable 123 to rotate relative to the base 11 .

[0092] In one embodiment, the first movable arm 121 is provided with a hollow area, and the hollow area is used to accommodate at least part of the second movable arm and at least part of the transmission rod 1623 when the robot arm 10 is folded. Figure 2 In the provided chess-playing robot 100 , the second movable arm 122 rotates toward the base 11 so that part of the second movable arm 122 and the transmission rod 1623 are located in the hollow area, further reducing the overall size of the folded robotic arm 10 .

[0093] See also Figure 13-15 ,in, Figure 13 A schematic diagram of the structure of the picking mechanism 13, the display screen 30 and the camera 50 provided in one embodiment of the present application is shown; Figure 14A partial structural diagram of the picking mechanism 13 in a placement state provided in one embodiment of the present application is shown; Figure 15 A partial structural diagram of a picking mechanism 13 in a picking state provided in an embodiment of the present application is illustrated.

[0094] In one embodiment, the picking mechanism 13 includes a magnetic member 133 and an isolation member 134. The magnetic member 133 is located on the side of the isolation member 134 away from the chessboard 20 and is slidably connected to the isolation member 134. The magnetic member 133 is used to slide toward or away from the isolation member 134 to pick up or place the chess pieces on the chessboard 20.

[0095] In one embodiment, the isolation member 134 includes a protrusion 1341, which extends toward the chessboard 20. The isolation member 134 is provided with a receiving groove 1342 on the side facing the magnetic member 133. When the picking mechanism 13 picks up the chess piece, the receiving groove 1342 is used to accommodate at least part of the magnetic member 133.

[0096] exist Figure 14 and Figure 15 The provided picking mechanism 13 includes a magnetic element 133, an isolating element 134, and a driving motor 135. The magnetic element 133 is slidably connected to the housing of the picking mechanism 13. The driving motor 135 is used to drive the magnetic element 133 to slide relative to the housing of the picking mechanism 13. The isolating element 134 is fixedly connected to the housing of the picking mechanism 13. The protrusion 1341 is used to pick up or place chess pieces. Figure 15 , the magnetic member 133 slides toward the receiving groove 1342, and the distance between the magnetic member 133 and the chess piece is reduced, so that the magnetic force of the magnetic member 133 on the chess piece is greater than or equal to the gravity of the chess piece, so that the picking mechanism 13 can pick up the chess piece; please refer to Figure 14 The magnetic element 133 slides in a direction away from the receiving groove 1342, and the distance between the magnetic element 133 and the chess piece increases, so that the magnetic force of the magnetic element 133 on the chess piece is smaller than the gravity of the chess piece, so that the picking mechanism 13 can place the chess piece.

[0097] It can be understood that the connecting rod mechanism 14 is used to limit the posture of the picking mechanism 13 so that the protrusion 1341 of the isolation member 134 is always perpendicular to the chess board 20, so that the picking mechanism 13 can pick up or place the chess piece.

[0098] It should be pointed out that the chess-playing robot 100 of the present application can be applied to a variety of chess games, including but not limited to chess, gobang, go and checkers.

[0099] See also Figure 16 and Figure 17 ,in, Figure 16 A schematic structural diagram of a chessboard 20 with a chessboard pattern provided in one embodiment of the present application is shown; Figure 17A schematic structural diagram of a chessboard 20 with a chessboard pattern from another perspective provided in an embodiment of the present application is shown.

[0100] exist Figure 16 and Figure 17 In the provided chessboard 20, each first plane 201 is provided with a replaceable pattern. Two first planes 201 are aligned and spliced to form a chessboard for a chess game. By replacing the patterns on the first planes 201, the chess-playing robot 100 can be adapted to a variety of chess games.

[0101] See also Figures 18-20 ,in, Figure 18 A schematic structural diagram of a chess-playing robot 100 in which a mechanical arm 10 is located in a groove 203 according to one perspective provided in one embodiment of the present application is shown; Figure 19 A schematic structural diagram of the chess-playing robot 100 in which the mechanical arm 10 is located in the groove 203 from another perspective provided in one embodiment of the present application is shown; Figure 20 A schematic structural diagram of a chessboard 20 at a first viewing angle provided in an embodiment of the present application is shown.

[0102] exist Figure 20 In the chessboard 20 provided, the groove 203 further includes a third area 2033. The depth of the third area 2033 is greater than the depth of the second area 2032. The third area 2033 can be used to accommodate the chess piece box 40. Figure 19 The third region 2033 can also be used to accommodate a portion of the drive mechanism 12, which shields at least a portion of the chess piece box 40 along the thickness direction of the housing 21. After the chess board 20 is folded, the drive mechanism 12 can restrict the movement of the chess piece box 40 within the third region 2033 along the thickness direction of the housing 21, thereby preventing relative movement between the chess piece box 40 and the folded chess board 20.

[0103] It is understood that in one embodiment, Figure 19 and Figure 20 As shown, the groove 203 of each shell 21 includes a third area 2033, in which two chess piece boxes 40 are stored in the third area 2033 of one shell 21. The two chess piece boxes 40 can be used to store chess pieces for different chess games. Similarly, the third area 2033 of the other shell 21 can also store chess piece boxes 40.

[0104] In other embodiments, a larger number of chess piece boxes 40 can be stored in the third area 2033 so that the chess-playing robot can be suitable for more types of chess games.

[0105] It should be pointed out that the robotic arm 10 of the chess-playing robot 100 of the present application is fixed with a camera, and the robotic arm 10 can work in conjunction with the camera 50. The camera 50 takes pictures and transmits the information to the processor. The processor performs visual analysis to obtain the position information of the chess pieces on the board in the current round, and calculates the chess strategy for the next round based on the position information of the current round. The robotic arm 10 receives the chess strategy and moves the chess pieces on the board to achieve a game with the user.

[0106] In addition, the chess-playing robot 100 is suitable for a variety of chess games. The processor can also identify the type of chess pieces on the board or the type of chess board, and switch the rules of the chess game based on the type of chess pieces or the type of chess board to calculate the chess strategy for the next round.

[0107] In one embodiment, the robotic arm 10 includes a base 11, a driving mechanism 12 and a picking mechanism 13, and the driving mechanism 12 is transmission-connected between the base 11 and the picking mechanism 13, wherein: when the chessboard 20 is unfolded, the base 11 is used to connect with the two shells 21 respectively, and the picking mechanism 13 is used to pick up or place chess pieces, and the size of the base 11 along the direction in which the two shells 21 are arranged is larger than the size of the driving mechanism 12; when the chessboard 20 is folded, the robotic arm is folded and accommodated in the accommodating cavity.

[0108] In one embodiment, the driving mechanism 12 is used to drive the picking mechanism 13 and the base 11 to move closer to each other to fold the robotic arm 10 .

[0109] exist Figure 18 In the provided chess-playing robot 100, the driving mechanism 12 has two ends connected to the pickup mechanism 13 and the base 11, respectively. The driving mechanism 12 drives the pickup mechanism 13 toward the base 11, bringing the pickup mechanism 13 and the base 11 closer together, thereby folding the robotic arm 10. The folded robotic arm 10 has a smaller overall size, which can reduce the space occupied by the robotic arm 10 and facilitate its storage in the accommodating cavity.

[0110] In one embodiment, each groove 203 includes a first area 2031 and a second area 2032, respectively. The first area 2031 and the second area 2032 are arranged along the plane direction of the second plane 202. The depth of the first area 2031 is greater than the depth of the second area 2032. When the chessboard 20 is folded, the two first areas 2031 are aligned along the plane direction of the second plane 202.

[0111] exist Figure 18 In the provided chess-playing robot 100, the base 11 and the pickup mechanism 13 are brought together to fold the robotic arm 10. When the chessboard 20 is folded, the two second regions 2032 align to accommodate the smaller drive mechanism 12 and pickup mechanism 13, while the two first regions 2031 align to form a larger accommodation space for the larger base 11.

[0112] In another embodiment, the base 11 and the picking mechanism 13 are close to each other and are simultaneously accommodated in the deeper first area 2031 , which can also realize the function of the groove 203 accommodating the robotic arm 10 .

[0113] In one embodiment, at least one groove 203 includes a third area 2033, and the third area 2033 and the first area 2031 are spaced apart from each other along the plane direction of the second plane 202. The second area 2032 is connected between the first area 2031 and the third area 2033, and the depth of the third area 2033 is greater than the depth of the second area 2032.

[0114] In one embodiment, if Figure 19 and Figure 20 As shown, the groove of each shell 21 includes a third area 2033, and the two third areas 2033 are used to accommodate chess box 40. Each chess box 40 is used to accommodate chess pieces of at least one chess game, so that the chess pieces are accommodated in the groove 203, thereby improving the space utilization of the folded chess board 20. When the chess board 20 is unfolded, the chess pieces can be taken out from the chess box 40, which is convenient for users to play chess games and improves the user experience.

[0115] In other embodiments, only one groove 203 includes the third area 2033 , which can also be used to accommodate chess pieces 40 and improve the space utilization of the folded chess board 20 .

[0116] It should be pointed out that in Figure 19 In the provided chess-playing robot 100, the third region 2033 can also be used to accommodate a portion of the drive mechanism 12, shielding at least a portion of the chess piece box 40 along the thickness direction of the housing 21. After the chess board 20 is folded, the drive mechanism 12 can restrict the movement of the chess piece box 40 within the third region 2033 along the thickness direction of the housing 21, preventing relative movement between the chess piece box 40 and the folded chess board 20.

[0117] In another embodiment, the robotic arm 10 does not perform a folding operation, the base 11 is located in the first area 2031, the picking mechanism 13 and the chess piece box 40 are located in the third area, and the picking mechanism 13 at least partially covers the chess piece box 40 along the thickness direction of the shell 21, which can also avoid relative movement between the chess piece box 40 and the folded chess board 20.

[0118] See also Figure 21 and Figure 22 ,in, Figure 21 A schematic structural diagram of a chessboard 20 at a second viewing angle provided in one embodiment of the present application is shown; Figure 22 A schematic structural diagram of a chessboard 20 at a third viewing angle provided in an embodiment of the present application is shown.

[0119] In one embodiment, the rotation connection of the two shells 21 forms a rotating shaft 22, and the axis of the rotating shaft 22 is located in the plane where the two second planes 202 are located. Figure 22 In the provided chessboard 20, the chessboard 20 is in an unfolded state, the two second planes 202 are aligned and spliced, and the axis of the rotating shaft 22 is located in the plane where the two second planes 202 are located, so that when the two shells 21 rotate toward each other around the rotating shaft 22 and the chessboard 20 is folded, the two second planes 202 are parallel and fit together, thereby ensuring that the folded chessboard 20 has a smaller size.

[0120] In one embodiment, each shell 21 includes a plurality of mutually spaced legs 204 , which are fixed to the second plane 202 and spaced apart from the groove 203 . Each leg 204 has a size greater than or equal to that of the shaft 22 along the thickness direction of the shell.

[0121] It can be understood that the axis of the rotating shaft 22 is located in the plane where the two second planes 202 are located. When the chessboard 20 is unfolded, part of the rotating shaft 22 is located on the side of the second plane 202 away from the first plane 201, resulting in an uneven bottom surface of the chessboard 20 away from the board surface, making it difficult to place the chessboard 20 stably. Figure 19 In the provided chess-playing robot 100, the second plane 202 of the shell 21 is provided with multiple legs 204, and the size of each leg 204 is greater than or equal to the radius of the rotating shaft 22. When the chessboard 20 is unfolded, the multiple legs 204 are used to support the chessboard 20 so that the chessboard 20 can be placed stably.

[0122] In one embodiment, when the chessboard 20 is folded, the multiple legs 204 of one shell 21 are arranged alternately with the multiple legs 204 of the other shell 21 along the plane direction where the second plane 202 is located. Figure 19 In the provided chess-playing robot 100 , the legs 204 of the two shells 21 are arranged in a staggered manner, so that the two second planes 202 can fit together when the chessboard 20 is folded, thereby ensuring the folding effect of the chessboard 20 .

[0123] In one embodiment, each shell 21 includes a plurality of locking openings 205, and the plurality of locking openings 205 are located on the second plane 202. When the chessboard 20 is folded, the positions of the plurality of locking openings 205 of one shell 21 correspond one-to-one to the positions of the plurality of supporting legs 204 of another shell 21. The locking openings 205 of one shell 21 are used to accommodate and lock the supporting legs 204 of the other shell 21.

[0124] exist Figure 19In the provided chess-playing robot 100, the chessboard 20 is in an unfolded state, and the position of each locking opening 205 corresponds one-to-one to the position of a support leg 204. When the two shells 21 are folded toward each other and the chessboard 20 is folded, each support leg 204 extends into a locking opening 205, so that the two second planes 202 can fit together when the chessboard 20 is folded, thereby ensuring the folding effect of the chessboard 20.

[0125] In another embodiment, a locking member is provided in the lock opening 205, and the locking member is used to limit the movement of the supporting leg 204 relative to the lock opening 205 after the supporting leg 204 extends into the lock opening 205, so as to lock the relative positions of the two shells 21, so that the chessboard 20 can remain in the folded state.

[0126] See also Figure 23 A schematic diagram of the partial structure of a chessboard 20 provided in another embodiment of the present application is shown.

[0127] exist Figure 23 In the chessboard 20 provided, a plurality of mutually spaced protrusions 208 are provided on the side wall of the chessboard 20 away from the rotating shaft 22. The surface of each protrusion 208 away from the first plane 201 is used to form a part of the second plane 202. Figure 19 The protrusions 208 of one housing 21 correspond in position to the protrusions 208 of the other housing 21. Each protrusion 208 has at least one leg 204 and at least one locking opening 205 on its surface away from the first plane 201. When the chessboard 20 is folded, the protrusions 208 of one housing 21 fit in contact with the protrusions 208 of the other housing 21, and the legs 204 of the protrusion 208 of one housing 21 extend into the locking opening 205 of the protrusion 208 of the other housing 21. This also allows the two second planes 202 to fit in contact when the chessboard 20 is folded, thereby ensuring the folding effect of the chessboard 20.

[0128] In addition, Figure 23 In the provided chessboard 20, the protrusion 208 of one of the two shells 21 is provided with a locking ring 209, which is rotatably connected to the protrusion 208 toward the side of the first plane, and is used to be sleeved on the outer periphery of the two protrusions 208 when the two protrusions 208 are in contact with each other, so as to limit the relative displacement of the two protrusions 208 and ensure that the two protrusions 208 are in a contact state. It can also lock the relative positions of the two shells 21, so that the chessboard 20 remains in a folded state.

[0129] In another embodiment, the locking rings 209 may be staggeredly distributed on the protrusions 208 of the two shells 21, which can also limit the relative displacement of the two protrusions 208 and ensure that the two protrusions 208 are in a fitted state.

[0130] In one embodiment, each housing 21 includes a through hole 206, one end of each through hole 206 is located on the second plane 202, and the other end is located on the side wall of the housing 21 away from the rotation axis. When the chessboard 20 is folded, the two through holes 206 are connected to form a handle. Figure 19 In the provided chess-playing robot 100, two through holes 206 are aligned at one end of the second plane 202. When the chessboard 20 is folded, the two through holes 206 are connected, and the two connected through holes 206 form a handle, making the chess-playing robot easy to carry and transport.

[0131] In one embodiment, a mounting interface 207 is provided on the side wall of each shell 21, and the two mounting interfaces 207 are located on the same side of the two shells 21 along the rotation axis of the two shells 21. When the chessboard 20 is unfolded, the distance between the two mounting interfaces 207 is less than or equal to the size of the robotic arm 10 along the arrangement direction of the two shells 21.

[0132] exist Figure 21 and Figure 22 In the chessboard 20 provided, the two mounting interfaces 207 are respectively located on the side walls of the two shells 21. The two mounting interfaces 207 are rectangular, and the long sides of the mounting interfaces 207 are parallel to the thickness direction of the shell 21. When the chessboard is unfolded, the long sides of the two mounting interfaces 207 are parallel to each other. Figure 2 The base 11 of the robotic arm 10 includes two interfaces 112 spaced apart from each other. The shape of the interface 112 matches the shape of the mounting interface 207. The long sides of the two interfaces 112 are parallel to each other. The distance between the two mounting interfaces 207 is equal to the distance between the two interfaces 112, so that the mounting interface 207 can match the interface 112 on the base 11 to realize the connection between the chessboard 20 and the robotic arm 10.

[0133] It can be understood that the relative position between the two mounting interfaces 207 changes with the relative rotation of the two housings 21. Figure 21 and Figure 22 In the provided chessboard 20, when the chessboard 20 is not in the unfolded state, the long sides of the two mounting interfaces 207 intersect, and the two mounting interfaces 207 cannot be connected to the two interfaces 112. Therefore, the robot arm 10 can only be connected to the chessboard 20 when the chessboard 20 is unfolded.

[0134] Similarly, in one embodiment, two mounting interfaces 207 may also be provided on the other side of the chessboard 20 , so that the robotic arm 10 and the chessboard 20 have more connection positions to be applicable to more application scenarios.

[0135] In another embodiment, the chessboard 20 and the robotic arm 10 are respectively provided with a mounting interface 207 and an interface 112 , and the connection between the chessboard 20 and the robotic arm 10 can be achieved only through the connection of one mounting interface 207 and one interface 112 .

[0136] In other embodiments, the chessboard 20 and the robotic arm 10 are respectively provided with a plurality of mounting interfaces 207 and a plurality of interfaces 112, each of which is configured to align with and connect to one interface 112 to achieve connection between the chessboard 20 and the robotic arm 10. It will be appreciated that the number and position of the mounting interfaces 207 and interfaces 112 can be arbitrarily set according to the desired connection strength and connection position.

[0137] In one embodiment, the mounting interface 207 and the interface 112 are connected by magnetic attraction. Magnets are installed near the interface 112 of the manipulator 10 and the mounting interface 207 of the chessboard 20, enabling the manipulator 10 and the chessboard 20 to be installed magnetically, making the operation very simple. Furthermore, no special operation is required for disassembly. In another embodiment, the mounting interface 207 and the interface 112 are connected by fasteners.

[0138] In the above embodiment, the connection between the robotic arm 10 and the chessboard 20 is detachable, which enables the robotic arm 10 to be connected to the unfolded chessboard 20 and the robotic arm 10 to be accommodated in the accommodating cavity of the folded chessboard 20.

[0139] In one embodiment, after the robot arm 10 is connected to the chessboard 20, the communication between the robot arm 10 and the chessboard 20 can be achieved by installing the interface 207 and the interface 112. Figure 21 In the provided chessboard 20 , an interface is installed for communicating with the interface 112 , and a button 23 is provided on the surface of the chessboard 20 , which can control the movement or start and stop of the robotic arm 10 .

[0140] In another embodiment, the robot arm 10 is also provided with a button 23 , which can also be used to control the movement and start and stop of the robot arm 10 .

[0141] In other embodiments, the chessboard 20 is provided with a processor, and the robotic arm 10 is connected to the mounting interface 207 via the interface 112 to achieve communication between the robotic arm 10 and the processor.

[0142] In other embodiments, the chessboard 20 is provided with circuits, and the robotic arm 10 is connected to the mounting interface 207 via the interface 112 to achieve communication between the robotic arm 10 and the circuits of the chessboard 20 .

[0143] In one embodiment, when the chessboard 20 is unfolded, the base 11 is connected to the chessboard 20, and the bottom surface of the base 11 is located on the side of the second plane 202 away from the first plane 201. The distance between the bottom surface of the base 11 and the second plane 202 along the thickness direction of the shell 21 is greater than or equal to the radius of the rotating shaft 22, so as to prevent the unevenness of the second plane from affecting the placement of the chessboard, so that the chessboard can be placed stably through the bottom surface of the base.

[0144] In one embodiment, the bottom surface of the base 11 is flush with the end surface of the support leg 204 away from the second plane 202, so that the base 11 can cooperate with the support leg 204 to support the chessboard 20, further improving the stability of the chessboard 20.

[0145] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Claims

1. A chess-playing robot, characterized in that: The invention comprises a chessboard and a robotic arm, wherein the robotic arm is used to pick up and move chess pieces on the chessboard, and the robotic arm comprises: A base, used for detachable connection with the chessboard; A picking mechanism for picking up and placing chess pieces on the chessboard, the picking mechanism comprising a first hinge hole and a second hinge hole, wherein the axes of the first hinge hole and the second hinge hole are parallel to each other and spaced apart in a direction perpendicular to the chessboard; A driving mechanism, configured to transmit and connect the base and the first hinge hole, and configured to drive the picking mechanism to move relative to the chessboard; A connecting rod mechanism, one end of which is used to be connected to the base through the driving mechanism, and the other end of which is used to be connected to the second hinge hole. The connecting rod mechanism is used to move with the driving mechanism and drive the picking mechanism to rotate around the first hinge hole to keep the posture of the picking mechanism always perpendicular to the chessboard.

2. The chess-playing robot according to claim 1, wherein: The driving mechanism includes a turntable, a first movable arm and a second movable arm. The turntable is rotatably connected to the base, and the rotation axis of the turntable is perpendicular to the chessboard. The two ends of the first movable arm are rotatably connected to the turntable and the second movable arm respectively. The end of the second movable arm away from the first movable arm is used to be rotatably connected to the first hinge hole. The rotation axes of the two ends of the first movable arm are parallel to the axis of the first hinge hole.

3. The chess-playing robot according to claim 2, wherein: The driving mechanism includes three motors, which are fixed to the turntable. The three motors are respectively used to drive the turntable to rotate relative to the base, the first movable arm to rotate relative to the turntable, and the second movable arm to rotate relative to the first movable arm.

4. The chess-playing robot according to claim 3, wherein: The driving mechanism includes a first transmission member and a second transmission member, the first transmission member includes a first worm and a first worm wheel, the first worm wheel is fixedly connected to one end of the first movable arm facing the turntable, and the first worm is transmission-connected between one of the motors and the first worm wheel; and / or The second transmission member includes a second worm, a second worm wheel and a transmission rod. The second worm wheel is rotatably connected to the first movable arm toward one end of the turntable. The second worm is transmission-connected between the other motor and the second worm wheel. The two ends of the transmission rod are rotatably connected to the second worm wheel and the second movable arm respectively. The rotation axes of the two ends of the transmission rod are parallel to the axis of the first hinge hole.

5. The chess-playing robot according to claim 2, wherein: The connecting rod mechanism includes a first connecting rod, a second connecting rod and a connecting member, the connecting member includes a first through hole, the first through hole is rotatably connected to the rotating shaft between the first movable arm and the second movable arm, the two ends of the first connecting rod are rotatably connected to the turntable and the connecting member respectively, the two ends of the second connecting rod are rotatably connected to the connecting member and the second hinge hole respectively, and the rotation axes of the two ends of the first connecting rod and the two ends of the second connecting rod are parallel to the axis of the first hinge hole.

6. The chess-playing robot according to claim 5, wherein: The connecting member includes a second through hole and a third through hole, any two of the first through hole, the second through hole and the third through hole are spaced apart from each other, the axes of the second through hole and the third through hole are parallel to the axis of the first through hole, the end of the first connecting rod away from the turntable is rotatably connected to the second through hole, and the end of the second connecting rod away from the second hinge hole is rotatably connected to the third through hole.

7. The chess-playing robot according to claim 6, wherein: The distance between the axis of the first hinge hole and the axis of the second hinge hole is equal to the distance between the axis of the first through hole and the axis of the third through hole; and / or The distance between the axis of the first hinge hole and the axis of the first through hole is equal to the distance between the axis of the second hinge hole and the axis of the third through hole.

8. The chess-playing robot according to claim 5, wherein: The housing of the first movable arm and the housing of the second movable arm are respectively formed with a first receiving cavity and a second receiving cavity. The first connecting rod is at least partially located in the first receiving cavity, and the second connecting rod is at least partially located in the second receiving cavity.

9. The chess-playing robot according to any one of claims 1 to 8, characterized in that: The picking mechanism includes a magnetic part and an isolation part. The magnetic part is located on the side of the isolation part away from the chessboard and is slidably connected to the isolation part. The magnetic part is used to slide toward or away from the isolation part to pick up or place the chess piece on the chessboard.

10. The chess-playing robot according to claim 9, characterized in that: The isolating member includes a protruding portion extending toward the chessboard. The isolating member is provided with a receiving groove on a side facing the magnetic member. When the picking mechanism picks up the chess piece, the receiving groove is used to receive at least part of the magnetic member.

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