Chess playing robot

Abstract

The chess playing robot comprises a chessboard and a mechanical arm, the chessboard comprises two shells, each shell comprises a first plane and a second plane which are back to back in the thickness direction, each second plane is provided with a groove, the two shells are rotationally connected, and when the two shells rotate back to back and the chessboard is unfolded, the first plane and the second plane are opposite to each other. The two first planes are aligned and spliced to form a chessboard surface of the chessboard, the mechanical arm is detachably connected with the chessboard, and the mechanical arm is used for moving chess pieces on the chessboard surface; when the two shells rotate oppositely and the chessboard is folded, the two second planes are attached, and the two grooves communicate with each other and form a containing cavity used for containing the mechanical arm. The chess playing robot can be folded and stored when not in use, that is, the two shells rotate oppositely to fold the chessboard, the overall size of the folded chessboard is small, and the occupied space of the chessboard is reduced; meanwhile, the mechanical arm and the chessboard are detachably connected, the detached mechanical arm can be stored in the containing cavity, and the occupied space of the chess playing robot is further reduced.

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] The chess-playing robot controls the movement of chess pieces on the chessboard through a robotic arm. After the robotic arm is connected to the chessboard, it takes up a large space, which is inconvenient for the transportation and storage of the chess-playing robot. 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 be folded and stored, 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 chessboard comprises two shells, each shell comprising a first plane and a second plane opposite to each other along a thickness direction, each second plane being provided with a groove, and the two shells being rotatably connected, wherein: when the two shells are rotated away from each other and the chessboard is unfolded, the two first planes are aligned and spliced to form the surface of the chessboard, the robotic arm is detachably connected to the chessboard, and the robotic arm is used to move chess pieces on the surface of the board; when the two shells are rotated toward each other and the chessboard is folded, the two second planes are fitted together, the two grooves are connected and form a receiving cavity for accommodating the robotic arm.

[0005] The chess-playing robot of the present application includes two rotatably connected shells, which rotate back to back. The two first planes are aligned and spliced to form a chessboard surface to realize the unfolding of the chessboard. The board surface can carry chess pieces. After the robotic arm is connected to the chessboard, the chess-playing robot can move the chess pieces on the board surface through the robotic arm to enable the chess-playing robot to work normally.

[0006] The chess-playing robot of the present application can be folded and stored when idle, that is, the two shells are rotated toward each other, the two second planes are fitted together and the two grooves are connected to form a accommodating cavity to realize the folding of the chessboard. Compared with the unfolded chessboard, the overall size of the folded chessboard is smaller, which reduces the space occupied by the chessboard; at the same time, the connection between the robotic arm and the chessboard is detachable, and the detached robotic arm can be stored in the accommodating cavity, further reducing the space occupied by the chess-playing robot.

[0007] In one embodiment, each groove includes a first area and a second area, respectively, the first area and the second area are arranged along the planar direction of the second plane, the depth of the first area is greater than the depth of the second area, and when the chessboard is folded, the two first areas are aligned along the planar direction of the second plane.

[0008] In this embodiment, the depth of the first area is greater than the depth of the second area, and the first areas of the two shells are aligned to form a larger accommodating space. When the accommodating cavity accommodates the disassembled robotic arm, the larger part of the robotic arm is aligned with the first area and placed in the first area, and the other parts of the robotic arm are placed in the second area.

[0009] In one embodiment, at least one groove includes a third area, the third area and the first area are spaced apart from each other along the plane direction of the second plane, the second area is connected between the first area and the third area, and the depth of the third area is greater than the depth of the second area.

[0010] In this embodiment, the depth of the third area is greater than the depth of the second area, and the second area is connected between the first area and the third area. The third area can be used in conjunction with the first area to accommodate larger parts of the robotic arm; the third area can also be used to accommodate chess pieces or other detachable parts of the chess-playing robot.

[0011] In one embodiment, a mounting interface is provided on the side wall of each shell, and the two mounting interfaces are located on the same side of the two shells along the rotation axis of the two shells. When the chessboard is unfolded, the distance between the two mounting interfaces is less than or equal to the size of the robotic arm along the direction in which the two shells are arranged.

[0012] In this embodiment, the robotic arm connects to the chessboard via mounting interfaces on the sidewalls of the housing. The distance between the two mounting interfaces changes as the two housings rotate relative to each other. When the chessboard is unfolded, the distance between the two mounting interfaces is less than or equal to the size of the robotic arm, facilitating connection between the robotic arm and the chessboard. Magnets are installed near the mounting interfaces of the robotic arm and the chessboard, enabling magnetic attachment and simplifying installation. Disassembly also requires no special procedures.

[0013] In one embodiment, the rotating connection between the two shells forms a rotating shaft, the axis of the rotating shaft is located in the plane where the two second planes are located, each shell includes a plurality of mutually spaced legs, the plurality of legs are fixed to the second plane and spaced apart from the groove, and the dimension of each leg along the thickness direction of the shell is greater than or equal to the radius of the rotating shaft.

[0014] In this embodiment, the pivoting connection between the two shells forms a rotating shaft, the axis of which lies within the plane of the two second flat surfaces. This ensures that the two first flat surfaces align and connect when the chessboard is unfolded, and that the two second flat surfaces fit together when the chessboard is folded. Furthermore, when the chessboard is unfolded, part of the rotating shaft lies on the side of the second flat surface away from the first flat surface, making the surface of the chessboard farther from the board surface uneven and affecting its placement. The size of each leg being greater than or equal to the radius of the rotating shaft ensures stable placement of the chessboard.

[0015] In one embodiment, when the chessboard is folded, the multiple legs of one shell are arranged alternately with the multiple legs of the other shell along the plane direction where the second plane is located.

[0016] In this embodiment, the legs of the two shells are arranged in a staggered manner so that the two second planes can fit together when the chessboard is folded, thereby ensuring the folding effect of the chessboard.

[0017] In one embodiment, each shell includes multiple locking openings, and the multiple locking openings are located on the second plane. When the chessboard is folded, the positions of the multiple locking openings of one shell correspond one-to-one to the positions of the multiple supporting feet of another shell, and the locking openings of one shell are used to accommodate and lock the supporting feet of the other shell.

[0018] In this embodiment, the position of each lock corresponds to the position of a support leg, and the lock can accommodate the support leg so that the two second planes can fit together when the chessboard is folded, thereby ensuring the folding effect of the chessboard; at the same time, the lock can lock the support leg so that the two shells can lock each other when the chessboard is folded.

[0019] In one embodiment, each shell includes a through hole, one end of each through hole is located on the second plane, and the other end is located on the side wall of the shell away from the rotation axis. When the chessboard is folded, the two through holes are connected to form a handle.

[0020] In this embodiment, when the chessboard is folded, the two second planes fit together to connect the two through holes to form a handle, and the two through holes are located close to each other at one end of the side wall of the shell, which facilitates the use of the handle.

[0021] In one embodiment, the robotic arm includes a base, a driving mechanism and a picking mechanism, and the driving mechanism is transmission-connected between the base and the picking mechanism, wherein: when the chessboard is unfolded, the base is used to connect with the two shells respectively, and the picking mechanism is used to pick up or place chess pieces, and the size of the base along the direction in which the two shells are arranged is larger than the size of the driving mechanism; when the chessboard is folded, the robotic arm is folded and accommodated in the accommodating cavity.

[0022] In this embodiment, when the chessboard is unfolded, the base of the robotic arm is connected to the chessboard, and the robotic arm cooperates with the driving mechanism and the picking mechanism to move the chess pieces. When the chessboard is folded, the robotic arm is folded and accommodated in the accommodating cavity to reduce the space occupied by the robotic arm and improve the space utilization in the accommodating cavity.

[0023] In one embodiment, the driving mechanism is used to drive the picking mechanism and the base to move closer to each other to fold the robotic arm.

[0024] In this embodiment, the picking mechanism and the base are close to each other to fold the robotic arm, which can reduce the space occupied by the robotic arm. The distance between the picking mechanism and the base is relatively close. The size of the base along the direction of arrangement of the two shells is larger than the size of the driving mechanism, which makes it easier for the base and the picking mechanism to be accommodated in the same area of the groove.

[0025] In one embodiment, when the chessboard is unfolded, the base is connected to the chessboard, the bottom surface of the base is located on the side of the second plane away from the first plane, and the distance between the bottom surface of the base and the second plane along the thickness direction of the shell is greater than or equal to the radius of the rotating shaft.

[0026] In this embodiment, the size of the bottom surface is greater than or equal to the radius of the rotation axis, which can prevent the unevenness of the second plane from affecting the placement of the chessboard, and the chessboard can be stably placed on the bottom surface of the base.

[0027] In one embodiment, a support foot is provided on the second plane, and the bottom surface of the base is flush with an end surface of the support foot away from the second plane.

[0028] In this embodiment, the bottom surface of the base is flush with the end surface of the support leg away from the second plane, so that the base can cooperate with the support leg to support the chessboard, further improving the stability of the chessboard. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] 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;

[0030] Figure 2 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;

[0031] Figure 3 A schematic structural diagram of a chess-playing robot with a robotic arm positioned in a groove, provided from another perspective in one embodiment of the present application;

[0032] Figure 4 A schematic structural diagram of a chessboard with a chessboard pattern from one viewing angle provided in one embodiment of the present application;

[0033] Figure 5 A schematic structural diagram of a chessboard with a chessboard pattern from another perspective provided in one embodiment of the present application;

[0034] Figure 6 A schematic structural diagram of a chessboard from a first perspective provided in one embodiment of the present application;

[0035] Figure 7 A schematic structural diagram of a chessboard from a second perspective provided in one embodiment of the present application;

[0036] Figure 8 This is a schematic structural diagram of a chessboard from a third perspective provided in one embodiment of the present application;

[0037] Figure 9 A schematic diagram of a partial structure of a chessboard provided in another embodiment of the present application;

[0038] Figure 10 This is a partial structural diagram of a chess-playing robot provided in one embodiment of the present application;

[0039] Figure 11 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;

[0040] Figure 12 This is a partial structural diagram of a chess-playing robot from a second perspective provided in another embodiment of the present application;

[0041] Figure 13 This is a structural schematic diagram of a connecting rod mechanism provided in another embodiment of the present application;

[0042] Figure 14 This is a schematic structural diagram of a connecting member provided in another embodiment of the present application;

[0043] Figure 15 This is a schematic structural diagram of another connecting rod mechanism provided in another embodiment of the present application;

[0044] Figure 16 This is a partial structural diagram of a chess-playing robot from a third perspective provided in another embodiment of the present application;

[0045] Figure 17 This is a structural schematic diagram of a first transmission member and a first motor provided in another embodiment of the present application;

[0046] Figure 18 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;

[0047] Figure 19 A schematic diagram of a portion of the structure of a robotic arm provided in another embodiment of the present application;

[0048] Figure 20 This is a schematic structural diagram of a base provided in another embodiment of the present application;

[0049] Figure 21 This is a schematic structural diagram of a pickup mechanism, a display screen, and a camera provided in one embodiment of the present application;

[0050] Figure 22This is a partial structural diagram of a picking mechanism in a placement state provided in one embodiment of the present application;

[0051] Figure 23 This is a partial structural diagram of a picking mechanism in a picking state provided in an embodiment of the present application. DETAILED DESCRIPTION

[0052] 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.

[0053] 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.

[0054] 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.

[0055] See also Figure 1 A schematic structural diagram of a chess-playing robot 100 in which a chessboard 20 is connected to a robotic arm 10 in one embodiment of the present application is shown.

[0056] The present application provides a chess-playing robot 100, including a chessboard 20 and a robotic arm 10. The chessboard 20 includes two shells 21, each shell 21 including a first plane 201 and a second plane 202 opposite to each other along the thickness direction, each second plane 202 is provided with a groove 203, and the two shells 21 are rotatably connected, wherein: when the two shells 21 rotate away from each other and unfold the chessboard 20, the two first planes 201 are aligned and spliced to form the board surface of the chessboard 20, the robotic arm 10 is detachably connected to the chessboard 20, and the robotic arm 10 is used to move chess pieces on the board surface.

[0057] Specifically, in one embodiment, Figure 1 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.

[0058] 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.

[0059] 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.

[0060] See also Figure 2 and Figure 3 ,in, Figure 2 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 3A structural diagram of the chess-playing robot 100 in which the robotic arm 10 is located in the groove 203 from another perspective provided in an embodiment of the present application is illustrated.

[0061] 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.

[0062] Specifically, in one embodiment, Figure 2 and Figure 3 As shown, the second plane 202 of the shell 21 is provided with a groove 203, the connection between the robotic arm 10 and the chessboard 20 is disconnected and placed in the groove 203 of one shell 21, and the two shells 21 rotate toward each other around the rotating shaft 22 and fold the chessboard. At this time, the two second planes 202 are fitted together, and the two grooves 203 are aligned and connected to each other to accommodate the robotic arm 10.

[0063] exist Figure 2 and Figure 3 In the provided chess-playing robot 100, the size of the base 11 along the thickness direction of the shell 21 is larger than the size of the driving mechanism 12, the groove 203 includes a first area 2031 and a second area 2032, the depth of the first area 2031 is greater than that of the second area 2032, and the driving mechanism 12 drives the picking mechanism 13 and the base 11 to approach each other so that the larger base 11 is accommodated in the deeper first area 2031, and the picking mechanism 13 is accommodated in the second area 2032.

[0064] The chess-playing robot 100 of the present application includes two rotatably connected shells 21. The two shells 21 rotate in opposite directions so that the two first planes 201 are aligned and spliced to form the surface of the chessboard 20, so as to realize the unfolding of the chessboard 20. The surface of the chessboard can carry chess pieces. The unfolded chessboard 20 is detachably connected to the robotic arm 10, and the robotic arm 10 can move relative to the chessboard 20 to move the chess pieces on the surface of the chessboard.

[0065] In existing chess-playing robots, the robotic arm is fixed on the chessboard. The overall size of the robotic arm and the chessboard is large and difficult to store. This means that the chess-playing robot still needs to occupy a large space when idle, which is not conducive to the storage and transportation of the chess-playing robot.

[0066] 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 overall size of the folded chessboard 20 becomes half of the unfolded chessboard 20, reducing the space occupied by the chessboard 20; at the same time, when the chessboard 20 is folded, the two grooves 203 are connected to form a accommodating cavity, and the robotic arm 10 can be stored in the accommodating cavity after the connection with the chessboard 20 is disconnected, further reducing the space occupied by the chess-playing robot 100, improving the space utilization of the chess-playing robot 100, and facilitating the storage and transportation of the chess-playing robot 100.

[0067] 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.

[0068] See also Figure 4 and Figure 5 ,in, Figure 4 A schematic structural diagram of a chessboard 20 with a chessboard pattern provided in one embodiment of the present application is shown; Figure 5 Schematic diagram of the structure of a chessboard 20 with a chessboard pattern provided in another perspective in one embodiment of the present application. Figure 4 and Figure 5 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.

[0069] See also Figure 6 A schematic structural diagram of a chessboard 20 at a first viewing angle provided in an embodiment of the present application is shown.

[0070] exist Figure 6 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 3 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.

[0071] Understandably, in Figure 6In the provided chessboard 20, 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.

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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 .

[0077] exist Figure 2 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.

[0078] 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.

[0079] exist Figure 2 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 base 11.

[0080] 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 .

[0081] 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.

[0082] exist Figure 6 In the provided chess board 20, the groove of each shell 21 includes a third area 2033, and the two third areas 2033 are used to accommodate chess piece boxes 40. Each chess piece 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 piece box 40, which is convenient for users to play chess games and improves the user experience.

[0083] 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 .

[0084] It should be pointed out that in Figure 3 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.

[0085] 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.

[0086] See also Figure 7 and Figure 8 ,in, Figure 7 A schematic structural diagram of a chessboard 20 at a second viewing angle provided in one embodiment of the present application is shown; Figure 8 A schematic structural diagram of a chessboard 20 at a third viewing angle provided in an embodiment of the present application is shown.

[0087] 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 8 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.

[0088] 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.

[0089] 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 3 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.

[0090] 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 3 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 .

[0091] 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.

[0092] exist Figure 3 In 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.

[0093] 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.

[0094] See also Figure 9 A schematic diagram of the partial structure of a chessboard 20 provided in another embodiment of the present application is shown.

[0095] exist Figure 9 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 3 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.

[0096] In addition, Figure 9In 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.

[0097] 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.

[0098] 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 3 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.

[0099] 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.

[0100] See also Figure 10 A schematic diagram of the partial structure of a chess-playing robot 100 provided in one embodiment of the present application is shown.

[0101] exist Figure 7 and Figure 8 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 10 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.

[0102] 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 7 and Figure 8 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.

[0103] 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.

[0104] 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 .

[0105] 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.

[0106] 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.

[0107] 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.

[0108] 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 7 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 .

[0109] 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 .

[0110] 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.

[0111] In other embodiments, the chessboard 20 is provided with circuitry, and the robotic arm 10 is connected to the mounting interface 207 via the interface 112 to enable communication between the robotic arm 10 and the circuitry of the chessboard 20. 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 housing 21 is greater than or equal to the radius of the rotating shaft 22, thereby preventing unevenness of the second plane from affecting the placement of the chessboard and allowing the chessboard to be stably placed on the bottom surface of the base.

[0112] 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.

[0113] See also Figure 11 A schematic diagram of the partial structure of a chess-playing robot 100 from a first perspective provided in another embodiment of the present application is shown.

[0114] In one embodiment, if Figure 11 As shown, the picking mechanism 13 includes a first hinge hole 131 and a second hinge hole 132. When the robotic arm 10 is connected to the chessboard 20, the axes of the first hinge hole 131 and the second hinge hole 132 are parallel to each other and arranged at intervals along the thickness direction of the shell 21. The driving mechanism 12 is used to transmit the connection between the base 11 and the first hinge hole 131.

[0115] In one embodiment, 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 to be rotatably connected 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.

[0116] See also Figure 12 and Figure 13 ,in, Figure 12A partial structural diagram of a chess-playing robot 100 from a second perspective provided in another embodiment of the present application is shown; Figure 13 A structural diagram of a connecting rod mechanism 14 provided in another embodiment of the present application is illustrated.

[0117] 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.

[0118] In one embodiment, if Figure 12 and Figure 13 As shown, the link mechanism 14 includes a first link 141, a second link 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) Figure 12 and Figure 13 (not specified), the two ends of the first connecting rod 141 are rotatably connected to the turntable 123 and the connecting member 143 respectively, and 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.

[0119] exist Figure 12 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.

[0120] See also Figure 14 A schematic structural diagram of a connecting member 143 provided in another embodiment of the present application is shown.

[0121] 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.

[0122] exist Figure 14 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 12 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.

[0123] Similarly, in Figure 12 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.

[0124] 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 .

[0125] 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 .

[0126] exist Figure 12In 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.

[0127] 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 .

[0128] 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 .

[0129] exist Figure 12 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.

[0130] See also Figure 15 Schematic diagram of the structure of another connecting rod mechanism 14 provided in another embodiment of the present application.

[0131] exist Figure 15In 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.

[0132] 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 10 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.

[0133] See also Figure 16 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.

[0134] 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.

[0135] See also Figure 17 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.

[0136] 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.

[0137] exist Figure 16In 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 12 and Figure 17 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.

[0138] See also Figure 18 and Figure 19 ,in, Figure 18 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 19 A partial structural diagram of a robotic arm 10 provided in another embodiment of the present application is illustrated.

[0139] 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.

[0140] exist Figure 18 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 19The 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.

[0141] 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 save the electricity required to drive the robotic arm 10.

[0142] See also Figure 20 A schematic structural diagram of a base 11 provided in another embodiment of the present application is shown.

[0143] exist Figure 20 In the provided base 11, the base 11 is fixed with a gear 111, please combine Figure 18 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 .

[0144] 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 .

[0145] See also Figure 21-23 ,in, Figure 21 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 22A partial structural diagram of the picking mechanism 13 in a placement state provided in one embodiment of the present application is shown; Figure 23 A partial structural diagram of a picking mechanism 13 in a picking state provided in an embodiment of the present application is illustrated.

[0146] 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.

[0147] 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.

[0148] exist Figure 22 and Figure 23 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 23 , 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 22 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.

[0149] 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.

[0150] 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 chessboard comprises two shells, each of which comprises a first plane and a second plane facing each other in the thickness direction, each of which is provided with a groove, and the two shells are rotatably connected, wherein: When the two shells rotate away from each other and unfold the chessboard, the two first planes are aligned and spliced to form the chessboard surface, and the mechanical arm is detachably connected to the chessboard, and the mechanical arm is used to move the chess pieces on the chessboard surface; When the two shells are rotated toward each other and the chessboard is folded, the two second planes are fitted together, and the two grooves are connected to form a receiving cavity for accommodating the robotic arm.

2. The chess-playing robot according to claim 1, wherein: Each of the grooves includes a first area and a second area, the first area and the second area are arranged along the planar direction of the second plane, the depth of the first area is greater than the depth of the second area, and when the chessboard is folded, the two first areas are aligned along the planar direction of the second plane.

3. The chess-playing robot according to claim 2, wherein: At least one of the grooves includes a third area, the third area and the first area are spaced apart from each other along the plane direction where the second plane is located, the second area is connected between the first area and the third area, and the depth of the third area is greater than the depth of the second area.

4. The chess-playing robot according to claim 1, wherein: A mounting interface is provided on the side wall of each shell, and the two mounting interfaces are located on the same side of the two shells along the rotation axis of the two shells. When the chessboard is unfolded, the distance between the two mounting interfaces is less than or equal to the size of the robotic arm along the direction in which the two shells are arranged.

5. The chess-playing robot according to claim 1, wherein: The rotating connection between the two shells forms a rotating shaft, the axis of the rotating shaft is located in the plane where the two second planes are located, each of the shells includes a plurality of mutually spaced legs, and the plurality of legs are fixed to the second plane and spaced apart from the groove, and the dimension of each leg along the thickness direction of the shell is greater than or equal to the radius of the rotating shaft.

6. The chess-playing robot according to claim 5, wherein: When the chessboard is folded, the plurality of legs of one shell and the plurality of legs of another shell are arranged alternately along the plane direction where the second plane is located.

7. The chess-playing robot according to claim 6, wherein: Each of the shells includes a plurality of locking openings, which are located on the second plane. When the chessboard is folded, the positions of the plurality of locking openings of one shell correspond one-to-one to the positions of the plurality of supporting feet of another shell, and the locking openings of one shell are used to accommodate and lock the supporting feet of another shell.

8. The chess-playing robot according to claim 1, wherein: Each shell includes a through hole, one end of each through hole is located on the second plane, and the other end is located on the side wall of the shell away from the rotation axis. When the chessboard is folded, the two through holes are connected to form a handle.

9. The chess-playing robot according to any one of claims 1 to 8, characterized in that: The robotic arm includes a base, a driving mechanism and a picking mechanism, wherein the driving mechanism is transmission-connected between the base and the picking mechanism, wherein: When the chessboard is unfolded, the base is used to connect to the two shells respectively, and the picking mechanism is used to pick up or place the chess pieces. The size of the base along the direction in which the two shells are arranged is larger than the size of the driving mechanism. When the chessboard is folded, the mechanical arm is folded and accommodated in the accommodating cavity.

10. The chess-playing robot according to claim 9, characterized in that: The driving mechanism is used to drive the picking mechanism and the base to move closer to each other so as to fold the robotic arm.

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