Manipulator with automatic go receiving function and automatic go table provided with manipulator

Abstract

The utility model discloses a manipulator with an automatic go-chess receiving function and an automatic go-chess table provided with the manipulator, which relate to the technical field of automation control and comprise a base, a sorting head movably mounted on the base and a driving device mounted on the base and used for driving the sorting head to transversely, longitudinally and lift, the driving device is in signal connection with a control system; a visual system is further installed on the base and located above the sorting area, and the visual system is in signal connection with the control system. Images of a sorting area are collected through a visual system, data support is provided for decision making of a control system, then chess pieces are picked through a sorting head of the control system, and rapid positioning and accurate sorting of the chess pieces are achieved by integrating a high-precision visual recognition system and an intelligent control system; and the structure is simple, the production cost is low, the device can be installed in different use places, and the flexibility is high.

Description

Technical Field

[0001] This utility model relates to the field of automation control technology, and in particular to a robotic arm with an automatic chess-collecting function and an automatic Go table equipped with the robotic arm. Background Technology

[0002] In Go training, after a game, players need to sort the black and white stones on the board. Traditional sorting methods involve manual sorting or mechanical grippers. Manual sorting is inefficient and wastes the player's energy, while mechanical grippers are complex, costly, space-consuming, and inconvenient to move or fix. Utility Model Content

[0003] The purpose of this utility model is to provide a robotic arm with an automatic game-collecting function and an automatic Go table equipped with the robotic arm. The robotic arm realizes the automatic game-collecting function, has a simple structure, low manufacturing cost, and can achieve rapid positioning and accurate sorting. It can be installed in different places of use and has high flexibility.

[0004] To achieve the above objectives, this utility model provides a robotic arm with an automatic chess-collecting function, including a base, a sorting head movably mounted on the base, and a drive device mounted on the base and driving the sorting head to move horizontally, vertically, and vertically; the picking area of ​​the sorting head is always vertically oriented; the drive device is signal-connected to a control system; a vision system is also installed on the base above the sorting area, and the vision system is signal-connected to the control system.

[0005] With the above structure, images of the sorting area are acquired by a vision system, providing data support for the control system's decision-making. The control system then transmits signals to the drive unit, which controls the sorting head to move laterally, longitudinally, and vertically to pick up the chess pieces. By integrating a high-precision vision recognition system and an intelligent control system, rapid positioning and accurate sorting of chess pieces are achieved. The structure is simple, the production cost is low, and it can be installed in various locations, offering high flexibility.

[0006] Preferably, the base includes opposing legs and a connecting rod connecting the two legs; the drive unit includes a lateral drive unit and a longitudinal drive unit. This design provides a stable support structure for the entire device and enables separate lateral and longitudinal control of the sorting head, achieving precise sorting.

[0007] Preferably, the lateral drive device includes a slide rail mounted on a connecting rod, a slide block slidably mounted on the slide rail, and a stepper motor driving the slide block to slide laterally along the slide rail. Pulleys are rotatably mounted at both ends of the slide rail, and belts are fitted onto the two pulleys. The slide block is fixedly mounted on the belts. The output shaft of the stepper motor is fixed to the axle of either pulley. By rotating the stepper motor forward and backward, the slide block can move laterally forward and backward along the slide rail. The cooperation between the stepper motor and the belt enables lateral displacement of the sorting head, ensuring displacement accuracy.

[0008] Preferably, a slide rail is provided on each side of the connecting rod, and a slider is slidably mounted on the slide rail, with the slide block fixed on the slider; clearance grooves are provided on the upper and lower sides of the connecting rod, through which the belt is limited. By providing slide rails on the connecting rod, the lateral movement stability of the slide block is ensured; at the same time, by providing clearance grooves on the connecting rod, belt wear or accidental contact by foreign objects is prevented, thus avoiding belt damage.

[0009] Preferably, the longitudinal drive device includes a three-degree-of-freedom robotic arm; the three-degree-of-freedom robotic arm includes a first robotic arm, a second robotic arm, and a third robotic arm, with the sorting head fixed to the end of the third robotic arm; the first robotic arm is rotatably mounted on a slide, and a first servo motor for driving the first robotic arm to rotate is fixedly mounted on the slide; the second robotic arm is rotatably mounted to the end of the first robotic arm, and a second servo motor for driving the second robotic arm to rotate is fixedly mounted on the first robotic arm; the third robotic arm is rotatably mounted to the end of the second robotic arm, and a third servo motor for driving the third robotic arm to rotate is fixedly mounted on the second robotic arm; the first, second, and third servo motors are respectively signal-connected to the control system. By adopting a three-degree-of-freedom robotic arm design, flexible three-dimensional spatial movement is achieved through servo motor drive, adapting to the sorting requirements of chess pieces.

[0010] Preferably, the sorting head includes a pneumatic suction cup, which is connected to an air pump via a hose, and the air pump is connected to the control system via a signal. By adopting the pneumatic suction cup design, the chess pieces can be flexibly grasped and released, improving the flexibility and applicability of sorting.

[0011] Preferably, the vision system includes a bracket, a camera fixed on the bracket, and an OpenMV vision module. The bracket is fixed to the base and extends upwards above the detection area. The camera, located above the sorting area, is responsible for capturing images of the chess pieces and transmitting them to the OpenMV vision module for processing. The OpenMV vision module is connected to the control system. Using the OpenMV vision module enables rapid and accurate identification and positioning of the chess pieces, improving the accuracy and efficiency of sorting.

[0012] Preferably, the control system includes an integrated intelligent PCB circuit board; the PCB circuit board integrates multiple motor drive and relay control functions as well as intelligent power management functions. Integrating multiple motor drive and relay control functions enables intelligent power management, ensuring the stability and energy efficiency of the device during operation.

[0013] An automatic Go board equipped with the aforementioned robotic arm includes a table body and a robotic arm with an automatic Go board collection function placed on the table body. A limiting groove is provided on the base, and a Go board is inserted into the limiting groove. The Go board is located within the sorting area and is marked with markers to indicate the position of the Go board containers. This design enables the automatic collection of Go boards.

[0014] After adopting the above technical solution, the beneficial effects of this utility model are:

[0015] This invention relates to a robotic arm with an automatic chess piece collection function and an automatic Go board equipped with the robotic arm. It solves the technical problems of existing sorting devices having low sorting accuracy, complex structure, high manufacturing cost, and poor flexibility. This invention integrates a high-precision visual recognition system and an intelligent control system, realizing rapid positioning and accurate sorting of chess pieces. At the same time, the device has a simple structure, low manufacturing cost, can be installed in different places of use, and has high flexibility. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of an automatic Go table equipped with the robotic arm according to this utility model;

[0017] Figure 2 yes Figure 1 A magnified view of part A in the image;

[0018] Figure 3 yes Figure 1 Side view;

[0019] Figure 4 yes Figure 3 A magnified view of part B in the image.

[0020] In the diagram, 1. Base, 11. Support leg, 111. Limiting groove, 12. Connecting rod, 121. Clearance groove, 2. Sorting head, 21. Pneumatic suction cup, 3. Drive device, 31. Lateral drive device, 311. Slide rail, 312. Slide base, 313. Stepper motor, 314. Belt, 32. Longitudinal drive device, 321. First robotic arm, 322. Second robotic arm, 323. Third robotic arm, 324. First servo motor, 325. Second servo motor, 326. Third servo motor, 4. Vision system, 41. Bracket, 42. Camera, 5. Chessboard. Detailed Implementation

[0021] The present invention will be further described below with reference to the accompanying drawings.

[0022] The orientations mentioned in this specification refer to the orientations of the robotic arm with automatic chess-collecting function and the automatic Go table equipped with the robotic arm during normal operation. They do not limit the orientations during storage and transportation, and only represent relative positional relationships, not absolute positional relationships.

[0023] Example 1:

[0024] like Figure 1 and Figure 2 As shown, a robotic arm with automatic sorting function includes a base 1, a sorting head 2 movably mounted on the base 1, and a drive device 3 mounted on the base 1 and driving the sorting head 2 to move horizontally, vertically, and vertically. The drive device 3 is connected to the control system. A vision system 4 is also mounted on the base 1 above the sorting area, and the vision system 4 is connected to the control system. The picking area of ​​the sorting head 2 is always vertically oriented.

[0025] The drive unit 3 can use a stepper motor to drive a lead screw to control the sorting head 2 to move horizontally and vertically, while its lifting can be done by an electric cylinder. As for the sorting head 2, it can be done by a suction cup or a mechanical gripper.

[0026] Example 2:

[0027] like Figure 1 and Figure 2 As shown, the base 1, serving as the supporting structure for the entire device, is made of a robust and durable material to ensure the stability of the device during operation. In this embodiment, the base 1 is welded from stainless steel square tubing and includes opposing legs 11 and connecting rods 12 connecting the two legs 11. The drive unit 3 includes a transverse drive unit 31 and a longitudinal drive unit 32, which together realize the three-dimensional spatial movement of the sorting head 2.

[0028] The lateral drive device 31 includes a slide rail 311 mounted on the connecting rod 12, a slide block 312 slidably mounted on the slide rail 311, and a stepper motor 313 that drives the slide block 312 to slide along the slide rail 311. Pulleys are rotatably mounted at both ends of the slide rail 311, and belts 314 are fitted onto the two pulleys. The slide block 312 is fixedly mounted on the belts 314. The output shaft of the stepper motor 313 is fixed to the axle of either pulley. The rotation of the stepper motor 313 drives the belts 314 and the slide block 312 to move laterally along the slide rail 311, thus achieving the horizontal displacement of the sorting head 2.

[0029] In this embodiment, a slide rail 311 is provided on each side of the connecting rod 12. A slider is slidably mounted on the slide rail 311, and a slide block 312 is fixedly mounted on the slider. By setting the slider, smoother sliding is ensured. Furthermore, in order to avoid the belt 314 being exposed on the outside and causing damage, clearance grooves 121 are provided on the upper and lower sides of the connecting rod 12 in this embodiment. The belt 314 is limited by passing through the clearance grooves 121.

[0030] The longitudinal drive device 32 includes a three-degree-of-freedom robotic arm; the three-degree-of-freedom robotic arm includes a first robotic arm 321, a second robotic arm 322, and a third robotic arm 323, with the sorting head 2 fixed to the end of the third robotic arm 323. The first robotic arm 321 is rotatably mounted on a slide 312, and a first servo motor 324 for driving the first robotic arm 321 to rotate is fixedly mounted on the slide 312; the second robotic arm 322 is rotatably mounted to the end of the first robotic arm 321, and a second servo motor 325 for driving the second robotic arm 322 to rotate is fixedly mounted on the first robotic arm 321; the third robotic arm 323 is rotatably mounted to the end of the second robotic arm 322, and a third servo motor 326 for driving the third robotic arm 323 to rotate is fixedly mounted on the second robotic arm 322; the first servo motor 324, the second servo motor 325, and the third servo motor 326 are respectively signal-connected to the control system. A three-degree-of-freedom robotic arm is used, with each arm driven by a servo motor to rotate. Each joint is driven independently by a servo motor, thereby completing the lifting, pitching, and yaw movements of the sorting head 2, achieving precise positioning and grasping of the chess pieces.

[0031] The sorting head 2 includes a pneumatic suction cup 21, which is connected to an air pump via a hose. The air pump is connected to the control system via a signal. The design of the pneumatic suction cup 21, connected to the air pump via a hose, allows the control system to control the start and stop of the air pump, thus enabling the suction and release of the Go pieces. The design of the pneumatic suction cup 21 allows the sorting head 2 to adapt to the curved surfaces of the Go pieces, improving the flexibility and applicability of sorting and preventing the Go pieces from being pushed and displaced, thus avoiding sorting errors.

[0032] The vision system 4 includes a bracket 41, a camera 42 fixed on the bracket 41, and an OpenMV vision module. The bracket 41 is fixed to the base 1 and extends upward above the detection area. The camera 42 is located above the sorting area and is responsible for capturing images of the chess pieces and transmitting them to the OpenMV vision module for processing. The OpenMV vision module has high-precision chess piece recognition and positioning capabilities, and can convert the recognized chess piece position and shape information into digital signals, which are then transmitted to the control system for subsequent processing, providing data support for the control system's decision-making. The OpenMV vision module is connected to the control system via signals.

[0033] The control system includes an integrated intelligent PCB circuit board. This PCB circuit board integrates multiple motor drive and relay control functions, capable of meeting the voltage and current requirements of different motors, and enabling relay control of the pneumatic suction cup 21. The PCB circuit board can meet the voltage and current requirements of three different motors (12V 3A stepper motor, 6V 2A servo motor, and 5V 3A vacuum pumping motor). Simultaneously, the PCB circuit board can control the vacuum pumping motor's on / off state via relays. The robotic arm is connected by three detachable suction pipes, achieving object pickup and orientation by creating a vacuum area directly above the target object. Furthermore, the PCB circuit board also features intelligent power management to ensure the stability and energy efficiency of the device during operation.

[0034] The advantages of this invention are: the algorithm ensures that the suction cup remains parallel to the ground no matter where the robotic arm moves; the robotic arm's range of motion is cubic, making it more suitable for desktops compared to traditional robotic arms that rotate around an axis; with a vision system, it can accurately classify different chess pieces through training; and by using an air pump and suction cup to pick up objects, it can reliably pick up chess pieces compared to traditional robotic arms.

[0035] like Figure 1 , Figure 3 and Figure 4 As shown, an automatic Go table equipped with the aforementioned robotic arm includes a table body and a robotic arm with an automatic Go game collection function placed on the table body. The robotic arm is placed on either table body. A limiting groove 111 is provided on the base 1. In this embodiment, the limiting groove 111 is located on opposite sides of the support legs 11. A Go board 5 is inserted into the limiting groove 111. The sides of the Go board 5 are provided with frames that match the shape of the limiting groove 111, thereby ensuring that the Go board 5 is inserted into the limiting groove 111 and preventing left and right swaying. Forward and backward swaying can be prevented by setting a sealing plug at the entrance of the limiting groove 111 to hold the Go board 5 in place, thus achieving the positioning of the Go board 5. The Go board 5 is located in the sorting area, and the Go board 5 is provided with markings for marking the position of the Go game containers.

[0036] Workflow:

[0037] Place the robotic arm on any table and connect the power. Start the device; upon startup, a reset operation is performed, adjusting the robotic arm's end to a preset height (10cm above the tabletop, adjustable). Stepper motor 313 rotates, moving the robotic arm to the starting position in the horizontal direction. Camera 42 then captures images of the chess pieces within the sorting area and transmits this image information to the OpenMV vision module for processing. The OpenMV vision module identifies and locates the chess pieces, converting the position information into (x, y) coordinates and transmitting the data as a two-dimensional array to the control system. Based on the received coordinates, the control system controls the stepper motor and the three-degree-of-freedom robotic arm to move the sorting head 2 directly above the chess pieces. The control system then activates the air pump, and the pneumatic suction cup 21 picks up the chess piece. The control system again controls the robotic arm to move the chess piece to the designated position and then shuts off the air pump, releasing the chess piece. These steps are repeated to achieve precise sorting of all chess pieces within the sorting area.

[0038] Of course, the above description is not intended to limit the present utility model, and the present utility model is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present utility model should also fall within the protection scope of the present utility model.

Claims

1. A mechanical hand with automatic chess collecting function, characterized in that: The base, the sorting head movably mounted on the base, and the driving device mounted on the base and driving the sorting head to move; the picking area of the sorting head is always vertically oriented; the driving device is signal connected with the control system; The base is further provided with a vision system above the sorting area, and the vision system is signal connected with the control system.

2. The mechanical hand with automatic collecting function according to claim 1, characterized in that: The base comprises two opposite supporting legs and a connecting rod connecting the two supporting legs; the driving device comprises a transverse driving device and a longitudinal driving device.

3. The mechanical hand with automatic collecting function according to claim 2, characterized in that: The transverse driving device comprises a slide way arranged on the connecting rod, a sliding seat slidably mounted on the slide way, and a stepping motor driving the sliding seat to slide transversely along the slide way; two ends of the slide way are respectively rotatably provided with pulleys, and a belt is cooperatively mounted on the two pulleys; the sliding seat is fixedly mounted on the belt; the output shaft of the stepping motor is fixed on the axle of any one of the pulleys; the forward and backward movement of the sliding seat along the slide way is realized by the forward and reverse rotation of the stepping motor.

4. The mechanical hand with automatic collecting function according to claim 3, characterized in that: Two sides of the connecting rod are respectively provided with a slide way, and a sliding block is slidably mounted on the slide way; the sliding seat is fixed on the sliding block; the upper and lower sides of the connecting rod are provided with avoiding through grooves, and the belt limiting is realized through the avoiding through grooves.

5. The mechanical hand with automatic collecting function according to claim 3, characterized in that: The longitudinal driving device comprises a three-degree-of-freedom mechanical arm; the three-degree-of-freedom mechanical arm comprises a first mechanical arm, a second mechanical arm and a third mechanical arm, and the sorting head is fixed on the end of the third mechanical arm; The first mechanical arm is rotatably mounted on the sliding seat, and a first rudder is fixedly mounted on the sliding seat to drive the first mechanical arm to rotate; the second mechanical arm is rotatably mounted on the end of the first mechanical arm, and a second rudder is fixedly mounted on the first mechanical arm to drive the second mechanical arm to rotate; the third mechanical arm is rotatably mounted on the end of the second mechanical arm, and a third rudder is fixedly mounted on the second mechanical arm to drive the third mechanical arm to rotate; the first rudder, the second rudder and the third rudder are respectively signal connected with the control system.

6. The mechanical hand with automatic collecting function according to claim 1, characterized in that: The sorting head comprises a pneumatic suction cup, the pneumatic suction cup is connected with an air pump through a hose, and the air pump is signal connected with the control system.

7. The mechanical hand with automatic collecting function according to claim 1, characterized in that: The vision system comprises a support, a camera fixed on the support, and an OpenMV vision module; the support is fixed on the base and extends upward above the detection area, the camera is located above the sorting area and is responsible for shooting the chess piece image and transmitting it to the OpenMV vision module for processing, and the OpenMV vision module is signal connected with the control system.

8. The mechanical hand with automatic collecting function according to claim 1, characterized in that: The control system comprises an integrated intelligent PCB circuit board; the PCB circuit board integrates multiple motor driving and relay control functions and intelligent power management functions.

9. An automatic weiqi table installed with the mechanical hand according to any one of claims 1-8, characterized in that: The table body and the mechanical hand with the automatic chess collecting function placed on the table body; The base is provided with a limiting groove, and a chessboard is limitingly inserted into the limiting groove; the chessboard is located in the sorting area and is provided with marks for marking the positions of the chess jars.

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