Pneumatic chess playing device based on T-BOT structure

Abstract

The utility model provides a pneumatic chess playing device based on a T-BOT structure, and relates to the technical field of chess playing devices. Comprising a base, a steering engine gear piece, a sliding block tooth piece and a front end fixing piece, a T-BOT transmission structure is arranged at the top of the base, the T-Bot transmission structure is adopted, accurate movement of an XY plane and symmetrical driving of double motors are achieved through a synchronous belt and a stepping motor, the balance and stability of a system during high-speed movement are guaranteed, meanwhile, the mechanical complexity is reduced, and the stability of the system is improved. An error compensation mathematical model is established through multiple experimental measurements and data analysis, idle stroke errors of the synchronous belt are effectively corrected, it is ensured that the positioning precision is greatly improved, a frame is made of Misumi2020 series industrial aluminum profiles and has the characteristics of high strength, 1268 corrosion resistance and modularization, a firm basic structure and a standard T-groove design are provided, rapid assembly and expansion are convenient, and the cost is low. Meanwhile, a precise sliding rail and a connecting piece are used, so that the vibration resistance and the movement stability of the device are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to chess device technical field, especially based on T-BOT structure's pneumatic chess device. BACKGROUND

[0002] In real life, the application of intelligent system in life is more and more extensive, and driving mechanical person to play chess as the embodiment of intelligent system in life can realize man-machine drill, and then improve the overall chess skill level, can increase the fun in life, and then improve the living standard.

[0003] In actual work, the structure and function of the chess device of the prior art are relatively perfect, and can basically meet the daily demand, but there will still be the following problems:

[0004] In the process of playing chess, the chess pieces are very easy to separate when clamping and landing due to the shaking of the equipment, so that the chess pieces are not landed in the corresponding position, and the clamping of the chess pieces usually adopts clamping plates on both sides, the clamping effect of this clamping method for the chess pieces with round side edges is poor, and the structure is complex, and the multiple structures when landing may shake the dense chess pieces, and then cause the chess pieces on the chessboard to be chaotic, which is very inconvenient.

[0005] Therefore, the utility model provides a pneumatic chess device based on T-BOT structure. UTILITY MODEL CONTENT

[0006] The utility model aims at solving the shortcomings in the prior art, and provides a pneumatic chess device based on T-BOT structure.

[0007] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a pneumatic chess device based on T-BOT structure, including base, rudder gear part, sliding block tooth condition and front end fixed part, the top of base is provided with T-BOT transmission structure, the top of base is fixedly installed with air pump, the output end of air pump is fixedly installed with gas pipe, one end away from air pump of gas pipe is fixedly installed with electromagnetic valve, the bottom end of electromagnetic valve is fixedly installed with sucking disc, the inner wall of rudder gear part is opened with installation hole for installation, the inner wall of sliding block tooth condition is opened with installation hole for installation, one side of front end fixed part is fixedly installed with T-BOT transmission structure, the other side is provided with U-shaped connecting block and rectangular connecting block, one side of base is fixedly connected with chessboard plate.

[0008] As a preferred implementation, the T-BOT transmission structure comprises a stepping motor mounted on the top of the base, the top of the base is symmetrically fixedly connected with four fixed length compensation blocks, two of the fixed length compensation blocks are a group and are symmetrically arranged on the top of the base, an X shaft is arranged between the two groups of fixed length compensation blocks, the outer surface of the X shaft is provided with a connecting piece, the connecting piece is composed of two vertically arranged circular tubes, the inner wall of the circular tube above the connecting piece is provided with a Y shaft, both ends of the two Y shafts are fixedly connected with mounting plates, the outer surface of the connecting piece is fixedly connected with an auxiliary plate at the top, the bottom of the auxiliary plate is fixedly connected with a transmission wheel, and the transmission wheel, the stepping motor and the mounting plate are provided with a synchronous belt.

[0009] The technical effect of the further scheme is that under the action of the stepping motor, the X shaft and the Y shaft, the transmission wheel, the synchronous belt and other components interact to achieve precise displacement in the XY axis direction, and the chess piece is firmly clamped and placed.

[0010] As a preferred implementation, the outer surface of the front end fixed part is fixedly connected with one side of the mounting plate, the U-shaped connecting block of the front end fixed part is fixedly connected with the rudder body, the output end of the rudder body is fixedly connected with the rudder gear, the rectangular connecting block of the front end fixed part is fixedly connected with the auxiliary block, one side of the outer surface of the auxiliary block is fixedly connected with the L-shaped plate, the L-shaped plate is provided with a rectangular sliding groove on one side, the rectangular sliding groove is slidably connected with a rectangular sliding block, one side of the outer surface of the rectangular sliding block is fixedly connected with a second auxiliary plate, the second auxiliary plate is fixedly connected with the sliding block gear, and the sliding block gear is in meshing connection with the rudder gear.

[0011] The technical effect of the further scheme is that under the action of the rudder body, the rudder gear and the sliding block gear, the Z axis direction can be moved, and the chess piece can be moved in the vertical direction, and the chess piece can be clamped and placed by cooperating with the air pump, the electromagnetic valve, the air conveying pipe and the suction cup.

[0012] Compared with the prior art, the advantages and positive effects of the utility model are that,

[0013] Adopt T-Bot transmission structure, realize the accurate movement of XY plane through synchronous belt and stepping motor, the symmetry drive of double motor guarantees the balance and stability of system when moving at high speed, reduces the mechanical complexity, through multiple experimental measurement and data analysis, establish error compensation mathematical model, effectively correct the idle travel error of synchronous belt, ensure the substantial improvement of positioning accuracy, the frame adopts Misumi2020 series industrial aluminum profile, has high strength, corrosion resistance 1268 and modularization characteristics, provides the solid basic structure, the standard T slot design is convenient and fast to assemble and expand, simultaneously uses precision slide rail and connecting piece, improves the vibration resistance and motion stability of device;

[0014] Gear and rack are made of 3D printing material, the material is light and high strength, which not only reduces the overall weight of the device, but also can withstand high-speed frequent up and down operation, the transmission of gear and rack is mathematically modeled, the precise function relationship between the rotation angle of SG90 servo and the moving distance of rack Z axis is established, through the precise angle control of servo, the high-precision motion of Z axis is realized, the operation of chess picking and placing is more reliable, since SG90 servo can respond quickly, combined with transmission model optimization, Z axis motion shows excellent speed and stability, which significantly improves the overall efficiency of the device;

[0015] A compact pickup device is composed of an air pump, a solenoid valve, a gas pipe and a suction cup, the airflow is accurately controlled through the solenoid valve to realize the suction and release of the chess pieces, the suction cup is designed to be compatible with chess pieces of different sizes and materials to ensure the reliability of picking and placing, the air pump is fixed with soundproof cotton to effectively reduce the noise during operation, making the device more suitable for actual application scenarios. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 A structural schematic view of the pneumatic chess placing device based on the T-BOT structure is provided.

[0017] Figure 2 A structural schematic view of the chessboard plate structure of the pneumatic chess placing device based on the T-BOT structure is provided.

[0018] Figure 3 A structural schematic view of the front end fixing part of the pneumatic chess placing device based on the T-BOT structure is provided.

[0019] Figure 4 A structural schematic view of the front end fixing part of the pneumatic chess placing device based on the T-BOT structure is provided.

[0020] Figure 5The utility model provides a kind of based on T-BOT structure's gear wheel piece structure schematic diagram of rudder of pneumatic chess playing device.

[0021] Figure 6 The utility model provides a kind of based on T-BOT structure's sliding block tooth condition structure schematic diagram of gear wheel piece of pneumatic chess playing device.

[0022] Legend:

[0023] 1, base; 2, stepper motor; 3, X shaft rod; 4, fixed piece length compensation block; 5, connecting piece; 6, Y shaft rod; 7, mounting plate; 8, synchronous belt; 9, auxiliary plate; 10, transmission wheel; 11, air pump; 12, gas pipe; 13, electromagnetic valve; 14, suction disc; 15, chessboard plate; 16, front end fixed piece; 17, rudder body; 18, rudder gear piece; 19, auxiliary block; 20, sliding block tooth condition; 21, L-shaped plate; 22, rectangular sliding groove; 23, rectangular sliding block; 24, second auxiliary plate. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the utility model will be described clearly and completely below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0025] As Figures 1-6As shown, the embodiment provides a technical scheme: a kind of T-BOT structure-based pneumatic chess device, including base 1, rudder gear piece 18, slider tooth condition 20 and front end fixed part 16, the top of base 1 is provided with T-BOT transmission structure, using T-Bot transmission structure, the accurate movement of XY plane is realized by synchronous belt and stepper motor, the balance and stability of system are guaranteed when high speed moves, while the mechanical complexity is reduced, the top of base 1 is fixedly installed with air pump 11, the output end of air pump 11 is fixedly installed with gas pipe 12, the end of gas pipe 12 away from air pump 11 is fixedly installed with electromagnetic valve 13, the bottom end of electromagnetic valve 13 is fixedly installed with suction cup 14, compact pickup device is formed by using air pump 11, electromagnetic valve 13, gas pipe 12 and suction cup 14, the suction and release of chess piece are realized by accurately controlling airflow by electromagnetic valve 13, suction cup 14 design is compatible with chess piece of different size and material, the reliability of pickup and placement is ensured, air pump 11 is fixed by wrapping soundproof cotton, effectively reduce the noise when running, make device more suitable for actual application scene, the inner wall of rudder gear piece 18 is provided with mounting hole for installation, the inner wall of slider tooth condition 20 is provided with mounting hole for installation, one side of front end fixed part 16 is fixedly installed with T-BOT transmission structure, the other side is provided with U-shaped connecting block and rectangular connecting block, one side of base 1 is fixedly connected with chessboard plate 15.

[0026] Further, as Figures 2-6 Shown: T-BOT transmission structure includes stepper motor 2 installed on the top of base 1, four fixed length compensation blocks 4 are symmetrically fixedly connected on the top of base 1, two fixed length compensation blocks 4 are a group and symmetrically arranged on the top of base 1, X shaft 3 is arranged between two groups of fixed length compensation blocks 4, the outer surface of X shaft 3 is provided with connecting piece 5, connecting piece 5 is composed of two vertically arranged circular tubes, the inner wall of the circular tube above connecting piece 5 is provided with Y shaft 6, both ends of two Y shafts 6 are fixedly connected with mounting plate 7, the outer surface top of connecting piece 5 is fixedly connected with auxiliary plate 9, the bottom of auxiliary plate 9 is fixedly connected with transmission wheel 10, transmission wheel 10, stepper motor 2 and mounting plate 7 are provided with synchronous belt 8, under the action of stepper motor 2 cooperating with X shaft 3 and Y shaft 6, interact with transmission wheel 10, synchronous belt 8 and other components, accurate displacement can be realized in XY axis direction, meanwhile, chess piece is clamped and dropped very stably, while double motor is designed, so that driving is more stable, and shaking is not easy to occur.

[0027] The above scheme still has the problem that the chess piece cannot be accurately dropped when falling in Z axis direction, as Figures 2-6As shown: the outer surface side of the front end fixing piece 16 is fixedly connected with one side of the mounting plate 7, the U-shaped connecting block of the front end fixing piece 16 is fixedly installed with the rudder body 17, the output end of the rudder body 17 is fixedly installed with the rudder gear piece 18, the rectangular connecting block of the front end fixing piece 16 is fixedly installed with the auxiliary block 19, the outer surface side of the auxiliary block 19 is fixedly connected with the L-shaped plate 21, one side of the L-shaped plate 21 is provided with a rectangular sliding groove 22, the inner wall of the rectangular sliding groove 22 is slidably connected with a rectangular sliding block 23, the outer surface side of the rectangular sliding block 23 is fixedly connected with a second auxiliary plate 24, the second auxiliary plate 24 is fixedly installed with the sliding block gear condition 20, the sliding block gear condition 20 is meshingly connected with the rudder gear piece 18, under the action of the rudder body 17 cooperating with the rudder gear piece 18 and the sliding block gear condition 20, it can move in the Z-axis direction, and then it can cooperate with the chess pieces to move in the vertical direction, and then it can cooperate with the air pump 11, the electromagnetic valve 13, the air pipe 12 and the suction cup 14 and other components to clamp and drop the chess pieces.

[0028] The above scheme can also make the image preprocessed by grayscale, threshold segmentation and Gaussian filtering, reduce noise interference, improve detection efficiency, use the Hough circle detection algorithm of OpenCV to accurately identify the position of the circular chess pieces on the chessboard, combine the contour extraction algorithm to quickly obtain the center point coordinates of the chess pieces, use the chess piece template image for position recognition, adapt to chess pieces of different shapes, convert the image to HSV color space, realize rapid identification of the color of the chess pieces through color domain segmentation, take the mean value of the pixel value of the detection area to accurately classify the color category of the chess pieces, store the chessboard state based on a two-dimensional array, record the movement of each chess piece, use the Minimax recursive search algorithm and a simple evaluation function to realize the intelligent decision-making of AI on the chess game, the AI logic is realized based on rules without complex data training process, in the running state, the LED light strip realizes the breathing lamp effect of slow and gradual brightening and dimming through the PWM signal, and intuitively feedbacks the running state of the device. The light strip is always on to indicate the waiting state, and the breathing lamp indicates that the machine is making a move.

[0029] Working principle:

[0030] As shown in the figure: Figures 1-6

[0031] In use: start the stepper motor 2, so that the synchronous belt 8 can drive the transmission wheel 10 to rotate, thereby the Y-axis rod 6 can slide on the X-axis rod 3, and the Y-axis rod 6 can slide in the inner wall of the circular pipe of the connecting piece 5, thereby driving the mounting plate 7 and other components to move, and driving the electromagnetic valve 13 and other components to move;

[0032] After moving to the appropriate position, start the rudder body 17, thereby driving the rudder gear piece 18 to rotate, and thereby driving the sliding block gear condition 20 and the rectangular sliding block 23 to slide in the inner wall of the rectangular sliding groove 22;​

[0033] At this time, the air pump 11 is started, so that the electromagnetic valve 13 can drive the suction cup 14 to adsorb the chess pieces, and then the chess pieces can be dropped to the appropriate position according to the above principle.

[0034] The above is only a preferred embodiment of the present application, and is not intended to limit the present application in other forms. Any skilled person in the art can modify or change the above disclosed technology content to equivalent embodiments applied to other fields, but any simple modification, equivalent change and modification of the above embodiments made according to the technical essence of the present application without departing from the technical scheme of the present application still belong to the protection scope of the present application.

Claims

1. A T-BOT structure-based pneumatic chess device, comprising a base (1), a rudder gear part (18), a slider tooth condition (20) and a front end fixing part (16), characterized in that, the top of the base (1) is provided with a T-BOT transmission structure, the top of the base (1) is fixedly installed with an air pump (11), the output end of the air pump (11) is fixedly installed with a gas conveying pipe (12), the end of the gas conveying pipe (12) away from the air pump (11) is fixedly installed with a solenoid valve (13), the bottom end of the solenoid valve (13) is fixedly installed with a suction cup (14), the inner wall of the rudder gear part (18) is provided with a mounting hole for installation, the inner wall of the slider tooth condition (20) is provided with a mounting hole for installation, one side of the front end fixing part (16) is fixedly installed with a T-BOT transmission structure, the other side is provided with a U-shaped connecting block and a rectangular connecting block, and one side of the base (1) is fixedly connected with a chessboard plate (15).

2. The T-BOT structure based pneumatic chess playing device according to claim 1, wherein: The T-BOT transmission structure comprises a stepping motor (2) installed on the top of the base (1), and four fixed length compensation blocks (4) are symmetrically fixedly connected to the top of the base (1).

3. The T-BOT structure based pneumatically operated chess playing device as claimed in claim 2, wherein: Two groups of the fixed length compensation blocks (4) are provided with an X shaft (3) therebetween, the outer surface of the X shaft (3) is provided with a connecting piece (5), the connecting piece (5) is composed of two vertically arranged circular tubes, and the inner wall of the circular tube above the connecting piece (5) is provided with a Y shaft (6).

4. The T-BOT structure-based pneumatic chess device according to claim 3, characterized in that: both ends of the two Y shafts (6) are fixedly connected with mounting plates (7), the outer surface of the connecting piece (5) is fixedly connected with an auxiliary plate (9) at the top, the bottom of the auxiliary plate (9) is fixedly connected with a transmission wheel (10), and a synchronous belt (8) is arranged between the transmission wheel (10), the stepping motor (2) and the mounting plate (7).

5. The T-BOT structure-based pneumatic chess device according to claim 4, characterized in that: one side of the outer surface of the front end fixing part (16) is fixedly connected with one side of the mounting plate (7), the U-shaped connecting block of the front end fixing part (16) is fixedly installed with a rudder body (17), and the output end of the rudder body (17) is fixedly installed with the rudder gear part (18).

6. The T-BOT structure-based pneumatic chess device according to claim 1, characterized in that: the rectangular connecting block of the front end fixing part (16) is fixedly installed with an auxiliary block (19), and one side of the outer surface of the auxiliary block (19) is fixedly connected with an L-shaped plate (21).

7. The T-BOT structure-based pneumatic chess device according to claim 6, characterized in that: One side of the L-shaped plate (21) is provided with a rectangular chute (22), the inner wall of the rectangular chute (22) is slidably connected with a rectangular sliding block (23), one side of the outer surface of the rectangular sliding block (23) is fixedly connected with a second auxiliary plate (24), the second auxiliary plate (24) is fixedly installed with the sliding block tooth condition (20), the sliding block tooth condition (20) is meshingly connected with the steering gear gear part (18).

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