Motion suction nozzle device and chess playing robot

Abstract

The utility model relates to the technical field of chess playing robots, and provides a motion suction nozzle device and a chess playing robot, the motion suction nozzle device comprises a support, a driving piece, a lead screw, a sliding block, a suction nozzle assembly and a lifting rope; the driving piece is fixed on the bracket; one end of the lead screw is connected with the driving end of the driving piece and used for driving the lead screw to rotate, and the other end of the lead screw is rotationally connected with the support; the sliding block is in threaded connection with the lead screw; the suction nozzle assembly is movably arranged at the end part of a mechanical arm of the chess playing robot; one end of the lifting rope is connected with the sliding block, and the other end of the lifting rope is connected with the suction nozzle assembly. The driving piece and the sliding block can be arranged in the length direction of the small arm of the mechanical arm, the occupied transverse size of the small arm is small, the occupied transverse space of the mechanical arm by the device can be reduced, and appearance modeling of the mechanical arm is facilitated. In addition, the driving mode of the driving piece and the lead screw is adopted, the working noise is low, and the user experience can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of chess-playing robots, in particular to a moving nozzle device and a chess-playing robot. Background Art

[0002] The Go Robot is an intelligent device designed for Go enthusiasts to practice with. A mechanical arm drives a motion nozzle, enabling precise movement of Go pieces. The nozzle's motion mechanism is a core component of the Go Robot's design, impacting both product cost and user experience.

[0003] The relevant power mechanism uses a drive to rotate a rotating wheel, which then uses the large-diameter rotation of the wheel to pull a pull rope, which then lowers and raises the nozzle assembly to perform the suction operation. However, because the power mechanism is located on the forearm of the robot arm and the drive and rotating wheel need to be arranged horizontally on the forearm, the forearm's horizontal dimensions are relatively large, affecting its appearance. Utility Model Content

[0004] The utility model provides a moving nozzle device and a chess-playing robot, which are used to solve the problem in the prior art that the forearm of the mechanical arm of the chess-playing robot has a large lateral size and affects the appearance.

[0005] The utility model provides a moving nozzle device, comprising:

[0006] Bracket;

[0007] a driving member, fixed to the bracket;

[0008] a lead screw, one end of the lead screw being connected to the driving end of the driving member for driving the lead screw to rotate, and the other end of the lead screw being rotatably connected to the bracket;

[0009] a slider, the slider being threadedly connected to the lead screw;

[0010] A nozzle assembly, the nozzle assembly being movably arranged at the end of the mechanical arm of the chess-playing robot;

[0011] A pulling rope, one end of which is connected to the slider, and the other end of which is connected to the nozzle assembly.

[0012] According to the present invention, a moving nozzle device is provided, which further includes:

[0013] At least one guide rod is fixed to the bracket and arranged parallel to the lead screw, and the slider is slidably connected to the guide rod.

[0014] According to a moving nozzle device provided by the utility model, the nozzle assembly includes: a suction sleeve and a nozzle, the nozzle is fixed to the first end of the suction sleeve, and the pulling rope is fixed to the second end of the suction sleeve;

[0015] The motion nozzle device further comprises:

[0016] A fixed sleeve is fixed to the end of the mechanical arm of the chess-playing robot, and the second end is movably sleeved in the fixed sleeve and cooperates with the fixed sleeve in an axial upper limit position;

[0017] The elastic member is arranged between the second end of the suction sleeve and the fixed sleeve.

[0018] According to a moving suction nozzle device provided by the utility model, a wire groove is provided on the slider, one end of the pulling rope is passed through the wire groove and is tied with a knot, and the knot cooperates with the slider in the upper limit position in the length direction of the lead screw.

[0019] According to a moving suction nozzle device provided by the utility model, a groove is provided on one side of the slider, the bottom of the groove is connected to the wire groove, the knot is accommodated in the groove, an adhesive is accommodated in the groove, and the knot is fixedly connected to the slider through the adhesive.

[0020] According to a moving suction nozzle device provided by the utility model, the wire groove is provided with a first groove section and a second groove section, the first groove section passes through from the side of the slider away from the driving member to the side of the slider close to the driving member, the groove is arranged on the side of the slider away from the driving member, the second groove section is connected to the bottom of the groove, and the pulling rope is sequentially passed through the first groove section, the second groove section and the groove.

[0021] According to a moving suction nozzle device provided by the utility model, the slider is provided with a top surface and a side surface, the first groove section is an open groove arranged on the top surface, the second groove section is an open groove arranged on the side surface, and the second groove section extends from one end of the first groove section close to the driving member to be connected with the groove.

[0022] According to the present invention, a moving nozzle device is provided, which further includes:

[0023] a photoelectric switch, located on one side of the lead screw, the photoelectric switch being electrically connected to the driving member;

[0024] A slide is fixedly connected to the slider and is used to trigger the photoelectric switch. The wire groove is an open groove provided on the surface of the slider, and the slide covers at least a portion of the wire groove.

[0025] According to a moving suction nozzle device provided by the present invention, the bracket is provided with a plurality of mounting holes, and the mounting holes are elongated holes extending along the length direction of the lead screw.

[0026] The utility model also provides a chess-playing robot, comprising: a mechanical arm shell and any one of the above-mentioned motion nozzle devices, wherein the motion nozzle device is arranged in the mechanical arm shell, and the bracket is fixedly connected to the mechanical arm shell.

[0027] The motion nozzle device and chess-playing robot provided by the present invention utilize a drive member, a lead screw, and a slider. The screw converts the rotational motion of the drive member into linear motion of the slider along the length of the robotic arm. The slider then pulls the lifting cord to lower and lift the nozzle assembly. The drive member and slider in the motion nozzle device can be arranged along the length of the robotic arm's forearm, occupying a relatively small lateral dimension of the forearm. This reduces the lateral space occupied by the device and improves the robotic arm's appearance. Furthermore, the drive method using the drive member and lead screw produces relatively low operating noise, which improves the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0029] Figure 1 The utility model is a schematic diagram of the installation of the motion nozzle device provided by the utility model in the mechanical arm of the chess-playing robot.

[0030] Figure 2 It is a partial structural diagram of the motion nozzle device provided by the utility model.

[0031] Figure 3 It is a schematic diagram of the lowering nozzle assembly of the motion nozzle device provided by the utility model.

[0032] Figure 4 yes Figure 3 Schematic diagram of the slider of the mid-motion nozzle device in the first position.

[0033] Figure 5 It is a schematic diagram of the lifting nozzle assembly of the motion nozzle device provided by the present invention.

[0034] Figure 6 yes Figure 5 Schematic diagram of the slider of the mid-motion nozzle device in the second position.

[0035] Figure 7It is a structural schematic diagram of a slider in the motion nozzle device provided by the utility model.

[0036] Figure 8 yes Figure 7 Schematic diagram of the structure of the middle slider from another perspective.

[0037] Reference numerals:

[0038] 100. Moving nozzle device; 11. Bracket; 111. Mounting hole; 12. Screw module; 121. Driving member; 122. Lead screw; 123. Slider; 1231. Wire groove; 1232. Groove; 1231a. First groove section; 1231b. Second groove section; 1233. Top surface; 1234. First side surface; 1235. Second side surface; 1236. Third side surface; 124. Guide rod; 125. Slide; 126. Connecting member; 13. Nozzle assembly; 131. Suction element sleeve; 132. Nozzle; 133. Fixing member; 14. Pull rope; 151. Photoelectric switch; 152. Circuit board; 153. Power interface; 154. Communication interface; 16. Fixing sleeve; 17. Elastic member; 18. First pulley frame assembly; 19. Second pulley frame assembly; 200. Robot arm housing. DETAILED DESCRIPTION

[0039] To make the purpose, technical solutions, and advantages of the present invention more clear, the following will be combined with the accompanying drawings to clearly and completely describe the technical solutions of the present invention. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0040] In the description of the embodiments of the present invention, it should be noted that, unless otherwise expressly specified and limited, the terms "first," "second," and "third" are numbered to clearly illustrate the product components and do not represent any substantial difference. The terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can be fixedly connected, detachably connected, or integrally connected; they can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0041] The following combination Figures 1-8 The present invention describes a motion nozzle device and a chess-playing robot.

[0042] like Figure 1As shown, the motion nozzle device 100 provided by the embodiment of the present invention includes a bracket 11, a screw module 12, a nozzle assembly 13 and a lifting rope 14. Among them, the screw module 12 includes a driving member 121, a lead screw 122 and a slider 123. The driving member 121 is fixed to the bracket 11, and one end of the lead screw 122 is connected to the driving end of the driving member 121 for driving the lead screw to rotate. The other end of the lead screw 122 is rotationally connected to the bracket 11. The slider 123 is threadedly connected to the lead screw 122. One end of the lifting rope 14 is connected to the slider 123, and the other end of the lifting rope 14 is connected to the nozzle assembly 13.

[0043] The motion nozzle device 100 is installed within the robotic arm of the chess-playing robot, typically within the forearm of the robotic arm. The bracket 11 is used to support the driver 121 and the lead screw 122. The bracket 11 can be the outer shell of the robotic arm of the chess-playing robot, or a structural member fixedly connected to the outer shell of the robotic arm, thereby facilitating the assembly of the motion nozzle device 100 with the outer shell of the robotic arm. The bracket 11 can be made of high-strength stainless steel.

[0044] The nozzle assembly 13 is movably mounted at the end of the forearm of the robotic arm. One end of the pull rope 14 is fixedly connected to the slider 123 and extends along the forearm to the end of the forearm and is fixedly connected to the nozzle assembly 13. The lead screw 122 of the nozzle moving device 100 is arranged along the length of the forearm, and the driving member 121 is connected to the end of the lead screw 122 away from the nozzle assembly 13.

[0045] The driver 121 can be a motor, or it can be a hydraulic, pneumatic, or other type of driver that can provide rotational drive. The driver 121 drives the lead screw 122 to rotate. The rotation of the lead screw 122 drives the slider 123 to move along the length of the lead screw 122, i.e., the length of the forearm. This converts the rotational motion of the driver 121's driving end into linear motion of the slider 123. As the slider 123 approaches or moves away from the end of the forearm, it releases and pulls the pull cord 14, thereby lowering and lifting the nozzle assembly 13.

[0046] Specifically, when the driving member 121 is started to rotate forward, Figure 3 and Figure 4 As shown, the slider 123 moves to the first position away from the driving member 121, and the nozzle assembly 13 is lowered. Figure 5 and Figure 6 As shown, the slider 123 moves to the second position close to the driving member 121, and the nozzle assembly 13 is lifted.

[0047] The motion suction nozzle device provided by the embodiment of the present invention is provided with a driving member 121, a lead screw 122 and a slider 123. The lead screw 122 is used to convert the rotational motion of the driving member 121 into the linear motion of the slider 123 along the length direction of the robot arm, and the slider 123 pulls the lifting rope 14 to lower and lift the suction nozzle assembly 13. The driving member 121 and the slider 123 in the motion suction nozzle device can be arranged along the length direction of the forearm of the robot arm, and the lateral dimension of the forearm occupied by the driving member 121 is small, which can reduce the lateral space occupied by the device in the robot arm, which is beneficial to the appearance of the robot arm. The traditional driving method of the driving member and the rotating wheel will generate a lot of noise because a reduction gear needs to be set inside the driving member group. The driving method of the driving member 121 and the lead screw 122 adopted by the present invention has a low working noise, which is beneficial to improving the user experience.

[0048] Optionally, the lead screw module 12 further includes at least one guide rod 124 , which is fixed to the bracket 11 and arranged parallel to the lead screw 122 , and the slider 123 is slidably connected to the guide rod 124 .

[0049] Among them, the guide rod 124 can be provided with one or more guide rods 124, and the guide rods 124 are provided in parallel on both sides of the lead screw 122. Figure 2 As shown, there are two guide rods 124 , which are disposed on both sides of the lead screw 122 .

[0050] Optionally, one end of the guide rod 124 is fixedly connected to the housing of the driver 121, and the other end is fixedly connected to the bracket 11. The guide rod 124 is located to the side of the lead screw 122 and is spaced apart from the lead screw 122. In this embodiment, by providing the guide rod 124, the guide rod 124 and the lead screw 122 can be used to maintain the smooth movement of the slider 123.

[0051] like Figure 3 and Figure 5 As shown, in the embodiment of the present invention, the suction nozzle assembly 13 includes a suction sleeve 131 and a suction nozzle 132. The suction nozzle 132 is fixed to the first end of the suction sleeve 131, and the pulling rope 14 is fixed to the second end of the suction sleeve 131. The moving suction nozzle device 100 also includes a fixed sleeve 16 and an elastic member 17. The fixed sleeve 16 is fixed to the end of the robotic arm of the chess-playing robot, and the second end of the suction sleeve 131 is movably sleeved in the fixed sleeve 16 and cooperates with the fixed sleeve 16 in the axial upper limit position. The elastic member 17 is arranged between the second end of the suction sleeve 131 and the fixed sleeve 16.

[0052] Specifically, the fixed sleeve 16 is a hollow tubular structure, coaxially arranged with the suction sleeve 131. When the slider 123 moves between the first and second positions, the pull cord 14 is released or pulled, causing the second end of the suction sleeve 131 to move axially relative to the fixed sleeve 16 within an axially confined space, while the first end of the suction sleeve 131 performs telescopic movement relative to the fixed sleeve 16. An elastic member 17 is disposed between the second end of the suction sleeve 131 and the fixed sleeve 16. The elastic member 17 can be a spring, compression spring, or other elastic structural member that provides elastic kinetic energy for the axial movement of the suction sleeve 131 and has elastic restoring force.

[0053] When the slider 123 moves from the first position to the second position, the suction nozzle assembly 13 is lifted by the pull cord 14, and the elastic member 17 is compressed. When the slider 123 moves from the second position to the first position, the pull cord 14 releases the pulling force on the suction nozzle assembly 13, and the compressed elastic potential energy of the elastic member 17 is released, and the suction sleeve 131 is lowered under the elastic force of the elastic member 17.

[0054] Among them, the suction sleeve 131 cooperates with the fixed sleeve 16 in the axial upper limit position, so that the suction sleeve 131 will not fall out of the fixed sleeve 16. Specifically, the fixed sleeve 16 is provided with a first limiting portion, for example, the first limiting portion is a first annular flange protruding radially inward at the end of the fixed sleeve 16 away from the end of the robotic arm; the suction sleeve 131 is provided with a second limiting portion, for example, the second limiting portion is a first annular flange protruding radially outward at the second end of the suction sleeve 131. When the nozzle assembly 13 is lowered under the elastic force of the elastic member 17, the first annular flange and the second annular flange are abutted in the axial direction, and the suction sleeve 131 is pressed, which can keep the nozzle assembly 13 stable and not shake.

[0055] Furthermore, the nozzle assembly 13 further includes a fixing member 133, which is fixedly connected to the suction sleeve 131, and the pull rope 14 is fixedly connected to the fixing member 133. Optionally, the fixing member 133 is provided with a first through hole, and the end of the pull rope 14 away from the slider 123 is passed through the first through hole and tied with a knot, and the knot is confined to the side of the fixing member 133 away from the slider 123.

[0056] Furthermore, the suction nozzle assembly 13 also includes a suction pipe (not shown), through which the suction nozzle 132 is connected to the suction mechanism. During a Go game, when a piece needs to be sucked, the suction nozzle assembly 13 is moved above the piece by a robotic arm, and the driver 121 is activated to drive the slider 123 to the first position, causing the suction nozzle assembly 13 to extend and lower toward the piece. The suction mechanism is then activated to cause the suction nozzle 132 to suck the piece. When a piece needs to be dropped, the suction nozzle assembly 13 is moved above the position to be dropped by the robotic arm, and the suction mechanism is closed to drop the piece. The driver 121 is then activated to drive the slider 123 back to the second position, causing the suction nozzle assembly 13 to rise and retract, ready for the next suction. A second through-hole is also provided on the fixing member 133, through which the suction pipe is inserted and connected to the suction nozzle 132.

[0057] It should be noted that the embodiment of the present invention is not limited to the above-mentioned method of sucking chess pieces by sucking air from the suction nozzle 132 through a straw and a suction mechanism. For example, the suction nozzle 132 can adopt a magnetic suction nozzle to suck chess pieces using the magnetic suction force of the suction nozzle.

[0058] See also Figure 7 In this embodiment of the present invention, the slider 123 is provided with a wire groove 1231. One end of the pull cord 14 is passed through the wire groove 1231 and is tied with a knot. The knot cooperates with the slider 123 to limit the length of the lead screw 122. The wire groove 1231 may be a through-hole extending through the interior of the slider 123. The knot is larger than the cross-sectional dimensions of the wire groove 1231, ensuring that the knot cooperates with the slider 123 to limit the length of the lead screw 122. This prevents the pull cord 14 from slipping out of the wire groove 1231 when being pulled.

[0059] Furthermore, a groove 1232 is provided on one side of the slider 123, the bottom of the groove 1232 is connected to the wire groove 1231, and the knot is accommodated in the groove 1232. Specifically, the groove 1232 is a groove body concavely provided on the surface of the slider 123, and the groove body has an annular groove wall, and the knot is accommodated in the space enclosed by the annular groove wall.

[0060] Furthermore, the groove 1232 contains an adhesive, and the knot is fixedly connected to the slider 123 through the adhesive, which can prevent the pulling rope 14 from moving in the wire groove 1231 during the movement of the slider 123. The groove 1232 is conducive to gathering more glue and realizing a reliable connection between the knot and the slider 123.

[0061] In some embodiments, the wire groove 1231 extends from the side of the slider 123 away from the driver 121 to the side of the slider 123 closer to the driver 121. For example, the wire groove 1231 is a straight groove extending through the slider 123. The pull cord 14 passes through the wire groove 1231 from the side of the slider 123 away from the driver 121 and is tied with a knot on the side of the slider 123 closer to the driver 121. The knot is confined to the side of the slider 123 closer to the driver 121. In this case, the groove 1232 is provided on the side of the slider 123 closer to the driver 121.

[0062] In other embodiments, the cable groove 1231 includes a first groove section 1231a and a second groove section 1231b. The first groove section 1231a extends from the side of the slider 123 away from the driver 121 to the side of the slider 123 closer to the driver 121. The groove 1232 is located on the side of the slider 123 away from the driver 121, and the second groove section 1231b communicates with the bottom of the groove 1232. The pull cord 14 is sequentially threaded through the first groove section 1231a, the second groove section 1231b, and the groove 1232. This improves the reliability of the connection between the pull cord 14 and the slider 123.

[0063] As a specific example, see Figure 8 The slider 123 has a top surface 1233 and a side surface. The first slot section 1231a is an open slot provided on the top surface 1233, and the second slot section 1231b is an open slot provided on the side surface. The second slot section 1231b extends from the end of the first slot section 1231a close to the driving member 121 to communicate with the groove 1232.

[0064] For the convenience of description, the top surface 1233 in this embodiment is relatively Figure 8 The position of the middle slider 123 does not limit the specific position of the top surface 1233 on the slider 123, which can be Figure 7 A surface at the top of the middle slider 123 can also be Figure 7 A surface at the bottom of the slider 123. The side surface is the surface connecting the top and bottom surfaces of the slider 123. The side surface includes a first side surface 1234 of the slider 123 facing the driver 121, a second side surface 1235 of the slider 123 away from the driver 121, and a third side surface 1236 connecting the first side surface 1234 and the second side surface 1235.

[0065] Specifically, the second slot section 1231b is an L-shaped open slot provided on the first side 1234 and the third side 1236, and the groove 1232 is provided on the second side 1235. The top surface 1233 and the side grooves 1231 provide a position-limited installation for the pull cord 14, improving the reliability of the connection between the pull cord 14 and the slider 123. When installing the pull cord 14, the pull cord 14 can be directly pressed into the first slot section 1231a and the second slot section 1231b, achieving convenient and quick installation of the pull cord 14.

[0066] It should be noted that both the first slot section 1231a and the second slot section 1231b can be straight slots extending through the slider 123 along the length of the lead screw 122 and are through-hole slots disposed within the slider 123. The pull cord 14 passes through the first slot section 1231a from the side of the slider 123 away from the driver 121, and then passes through the second slot section 1231b from the side of the slider 123 closer to the driver 121. A knot is then tied on the side of the slider 123 away from the driver 121, with the knot being confined to the side of the slider 123 away from the driver 121.

[0067] like Figure 2 、 Figure 4 and Figure 6 As shown, the motion nozzle device provided by the embodiment of the present invention further includes a photoelectric switch 151 and a slide 125. The photoelectric switch 151 is located on one side of the lead screw 122, and the photoelectric switch 151 is electrically connected to the driving member 121. The slide 125 is fixedly connected to the slider 123 and is used to trigger the photoelectric switch 151. The wire groove 1231 is an open groove provided on the surface of the slider 123, and the slide 125 covers at least a portion of the wire groove 1231. Among them, the motion nozzle device 100 further includes a connecting member 126, which can be a structural member such as a screw or a rivet that can fix the slide 125 to the slider 123.

[0068] Specifically, the moving nozzle device 100 also includes a circuit board 152, which can be fixed to the bracket 11 or the robot arm housing 200, so that the circuit board 152 and the driving member 121 are relatively fixed in position. The photoelectric switch 151 is provided on the circuit board 152, which also has a power interface 153 and a communication interface 154.

[0069] Photoelectric switch 151 is positioned corresponding to the second position of slider 123. When slider 123 moves to the second position, slide 125 blocks the switch's infrared light, triggering the switch to turn on. The control system stops driver 121 based on this trigger signal. Triggering photoelectric switch 151 via slide 125 allows for precise calculation of slider 123 movement.

[0070] The slide 125 covers at least a portion of the wire slot 1231. Figure 4and Figure 6 As shown, the slide 125 is fixedly connected to the top surface 1233 of the slider 123 and covers the first slot section 1231a. This allows the slide 125 to press the pull cord 14 in the first slot section 1231a, preventing the pull cord 14 from loosening. Of course, the slide 125 can also be fixedly connected to the side of the slider 123 and cover a portion of the second slot section 1231b, thereby pressing the pull cord 14 in the second slot section 1231b. The installation position of the slide 125 can be adjusted according to the installation position of the photoelectric switch 151, and this embodiment is not limited to this.

[0071] In the above embodiment, when the wire groove 1231 is a through-hole extending through the interior of the slider 123, the annular groove wall of the groove 1232 can be a completely closed annular wall. When the wire groove is an open groove provided on the surface of the slider 123, the annular groove wall of the groove 1232 can be provided with an opening, the size of which is comparable to that of the wire groove 1231, so as to facilitate the insertion of the pulling cord 14 into the groove 1232 through the opening while preventing the knot from being dislodged from the side of the groove 1232.

[0072] like Figure 4 and Figure 6 As shown, in this embodiment of the present invention, the bracket 11 is provided with a plurality of mounting holes 111. These mounting holes 111 are elongated holes extending along the length of the lead screw 122. When installing the motion nozzle device 100, the lead screw module 12 is first mounted on the bracket 11. The bracket 11 is then fixed to the housing of the robot arm using fixings provided through the mounting holes 111. The elongated mounting holes 111 facilitate adjustment of the module's mounting position during assembly.

[0073] The present invention also provides a chess-playing robot comprising a robotic arm housing 200 and the motion nozzle device 100 described in any of the above embodiments. The motion nozzle device 100 is disposed within the robotic arm housing 200, and the bracket 11 is fixedly connected to the robotic arm housing 200. Specifically, the robotic arm housing 200 includes a forearm housing, and the motion nozzle device 100 is disposed within the forearm housing. The forearm housing is a high-strength housing, and may be made of nylon and fiberglass.

[0074] Further, if Figure 1 、 Figure 3 and Figure 5As shown, the motion nozzle device 100 provided by the present invention further includes a first pulley frame assembly 18, which is fixed to the robot arm housing 200 and is located at the end of the lead screw 122 away from the driving member 121. The pull rope 14 is disposed in the pulley groove of the first pulley frame assembly 18. The pull rope 14 extends from the slider 123 along the length direction of the lead screw 122 and passes through the first pulley frame assembly 18. The first pulley frame assembly 18 can keep the pull rope 14 between the slider 123 and the first pulley frame assembly 18 parallel to the length direction of the lead screw 122, thereby making the movement of the slider 123 smoother.

[0075] Furthermore, in order to facilitate the suction of the nozzle assembly 13, the axis of the fixed sleeve 16 is set at an angle to the length direction of the forearm of the robot arm. Figure 3 and Figure 5 As shown, the axis of the fixed sleeve 16 is perpendicular to the length of the forearm of the robot arm. Of course, the axis of the fixed sleeve 16 can also be aligned with the length of the forearm of the robot arm. The installation angle of the fixed sleeve 16 and the forearm of the robot arm can be designed and adjusted according to the overall structure of the chess playing robot.

[0076] When the axis of the fixed sleeve 16 is arranged at an angle to the length of the forearm of the robot arm, the motion nozzle device 100 provided by the present invention further includes a second pulley frame assembly 19, which is located at the intersection of the axis of the fixed sleeve 16 and the axis of the forearm of the robot arm. The pulling rope 14 is arranged in the pulley groove of the second pulley frame assembly 19 to maintain the turning center position of the pulling rope 14 and the lateral position on the forearm. The pulling rope 14 passes through the first pulley frame assembly 18 and the second pulley frame assembly 19 in sequence before reaching the nozzle assembly 13. The first pulley frame assembly 18 and the second pulley frame assembly 19 are used to standardize the movement path of the pulling rope 14.

[0077] Among them, the first pulley frame assembly 18 and the second pulley frame assembly 19 both include a mounting bracket and a pulley. The mounting bracket is fixedly connected to the robotic arm housing 200. The pulley is rotatably set on the mounting bracket. The pulling rope 14 is set in the wheel groove of the pulley. The roller skates are made of wear-resistant POM (Polyoxymethylene, polyoxymethylene resin) material.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A motion nozzle device for playing chess with a robot, characterized in that: include: Bracket; a driving member, fixed to the bracket; a lead screw, one end of the lead screw being connected to the driving end of the driving member for driving the lead screw to rotate, and the other end of the lead screw being rotatably connected to the bracket; a slider, the slider being threadedly connected to the lead screw; A nozzle assembly, the nozzle assembly being movably arranged at the end of the mechanical arm of the chess-playing robot; A pulling rope, one end of which is connected to the slider, and the other end of which is connected to the nozzle assembly.

2. The motion nozzle device according to claim 1, characterized in that: Also includes: At least one guide rod is fixed to the bracket and arranged parallel to the lead screw, and the slider is slidably connected to the guide rod.

3. The motion nozzle device according to claim 1, characterized in that: The nozzle assembly includes: a suction sleeve and a nozzle, wherein the nozzle is fixed to a first end of the suction sleeve, and the pull rope is fixed to a second end of the suction sleeve; The motion nozzle device further comprises: A fixed sleeve is fixed to the end of the mechanical arm of the chess-playing robot, and the second end is movably sleeved in the fixed sleeve and cooperates with the fixed sleeve in an axial upper limit position; The elastic member is arranged between the second end of the suction sleeve and the fixed sleeve.

4. The moving nozzle device according to any one of claims 1 to 3, characterized in that: The slider is provided with a wire groove, one end of the pulling rope is passed through the wire groove and is tied with a knot, and the knot cooperates with the slider in the upper limit position in the length direction of the lead screw.

5. The moving nozzle device according to claim 4, characterized in that: A groove is provided on one side of the slider, the bottom of the groove is connected to the wire groove, the knot is accommodated in the groove, an adhesive is accommodated in the groove, and the knot is fixedly connected to the slider through the adhesive.

6. The moving nozzle device according to claim 5, characterized in that: The wire groove is provided with a first groove section and a second groove section. The first groove section runs through the side of the slider away from the driving member to the side of the slider close to the driving member. The groove is provided on the side of the slider away from the driving member. The second groove section is connected to the bottom of the groove. The pulling rope is sequentially passed through the first groove section, the second groove section and the groove.

7. The moving nozzle device according to claim 6, characterized in that: The slider is provided with a top surface and a side surface, the first slot section is an open slot provided on the top surface, the second slot section is an open slot provided on the side surface, and the second slot section extends from one end of the first slot section close to the driving member to be connected with the groove.

8. The moving nozzle device according to claim 4, characterized in that: Also includes: a photoelectric switch, located on one side of the lead screw, the photoelectric switch being electrically connected to the driving member; A slide is fixedly connected to the slider and is used to trigger the photoelectric switch. The wire groove is an open groove provided on the surface of the slider, and the slide covers at least a portion of the wire groove.

9. The moving nozzle device according to any one of claims 1 to 3, characterized in that: The bracket is provided with a plurality of mounting holes, and the mounting holes are elongated holes extending along the length direction of the lead screw.

10. A chess-playing robot, characterized in that: include: A robotic arm housing and a motion nozzle device according to any one of claims 1 to 9, wherein the motion nozzle device is arranged in the robotic arm housing, and the bracket is fixedly connected to the robotic arm housing.

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