Calibration device and chess robot

Abstract

The utility model relates to the technical field of chess playing robot, provide a kind of calibration device and chess playing robot, calibration device is applied to chess playing robot, chess playing robot includes host computer and mechanical arm, and mechanical arm is located in host computer. Calibration device includes: shell and pressure sensing component. Shell is used to be detachably connected with mechanical arm;Pressure sensing component is located in shell, and it is used to be connected with host computer communication;Pressure sensing component is used to contact with chessboard, and when being pressed, it sends pressure sensing signal to host computer, so that host computer determines the posture of mechanical arm on chessboard according to pressure sensing signal. The calibration device of the utility model, in the process that operator operates mechanical arm and drives calibration device to approach specific chess point on chessboard, the pressure sensing component of calibration device can be contacted and pressed with chessboard and generate pressure sensing signal after being adjusted to suitable chess posture by mechanical arm, and the posture of current mechanical arm can be confirmed as suitable chess posture and corresponding posture parameter is recorded after host computer receives pressure sensing signal.

Description

Technical Field

[0001] This utility model relates to the field of chess-playing robot technology, and in particular to a calibration device and a chess-playing robot. Background Technology

[0002] Currently, chess-playing robots are widely used in chess teaching and entertainment. During the game, the chess-playing robot usually relies on visual recognition of the user's moves, performs calculations, and then uses a robotic arm to place the moves, thus enabling the game to be played between the machine and the human.

[0003] The chess-playing robot is primarily designed with coordinate calibration for each move on the chessboard before leaving the factory. However, in practical applications, if the chessboard or the robot is not placed on a level surface, or if the chessboard surface itself is not level, the actual move height at some moves may differ from the designed move height. When the designed move height is greater than the actual move height, the robot may release the piece prematurely while it is still some distance from the board, causing the piece to fall onto the board. When the designed move height is less than the actual move height, the robot may continue to control the movement of its robotic arm after the piece makes contact with the board, causing the robotic arm to be lifted in the opposite direction. Both of these situations will negatively impact the user experience. Utility Model Content

[0004] This invention provides a calibration device and a chess-playing robot to solve the problem in the prior art where, when the actual placement height of a chess-playing robot differs from the designed placement height, the robot cannot place pieces at the appropriate height, thus affecting the user experience.

[0005] In a first aspect, this utility model provides a calibration device for use with a chess-playing robot, the chess-playing robot comprising a host and a robotic arm, the robotic arm being disposed on the host, and the calibration device comprising: A housing for detachable connection to the robotic arm; A pressure-sensitive component is disposed in the housing and is used for communication connection with the host computer; The pressure-sensitive component is used to contact the chessboard and send a pressure signal to the host computer when pressure is applied, so that the host computer can determine the posture of the robotic arm to place a piece on the chessboard based on the pressure signal.

[0006] According to the calibration device of this utility model, the pressure-sensitive component includes: A motherboard, disposed in the housing, is used for communication connection with the host, and the motherboard is provided with a first connector and a second connector; An elastic element is disposed on the side of the main board facing the chessboard, and at least a portion of the elastic element is suspended between the first connector and the second connector; The elastic element is used to conduct the first connector and the second connector when compressed, so that the motherboard generates the pressure-sensitive signal.

[0007] According to the calibration device of this utility model, one end of the elastic member is connected to the first connector, the middle part of the elastic member arches towards the chessboard relative to the motherboard, and the elastic member has a protrusion at the position corresponding to the second connector, the protrusion being used to connect or separate from the second connector.

[0008] The calibration device according to this utility model further includes: An indicator light is located on the surface of the housing and is electrically connected to the motherboard. The indicator light is used to indicate the working status of the calibration device.

[0009] The calibration device according to this utility model further includes: A wireless communication module is disposed in the housing and electrically connected to the motherboard, for transmitting the pressure-sensitive signal of the motherboard to the host.

[0010] The calibration device according to this utility model further includes: A power module is disposed in the housing and electrically connected to the motherboard; A charging interface is located on the surface of the housing and is electrically connected to the power module.

[0011] The calibration device according to this utility model further includes: A trigger switch is located in the housing and electrically connected to the motherboard; In the case where the housing is connected to the robotic arm, the trigger switch is triggered by the robotic arm to control the motherboard to selectively send the pressure-sensitive signal to the host.

[0012] According to the calibration device of this utility model, the housing is provided with a first plug-in portion, and the trigger switch is provided in the first plug-in portion; the first plug-in portion is used to cooperate with a second plug-in portion on the robotic arm and to cause the second plug-in portion to trigger the trigger switch.

[0013] According to the calibration device of this utility model, the first plug-in part is disposed at the top of the housing, and the pressure-sensitive component is disposed at the bottom of the housing.

[0014] Secondly, this utility model also provides a chess-playing robot, comprising: A host computer and a robotic arm, wherein the robotic arm is mounted on the host computer and the host computer and the robotic arm are communicatively connected; A picking-up component, detachably connected to the robotic arm, is used to pick up chess pieces; The calibration device as described in any of the above embodiments, wherein the housing of the calibration device is detachably connected to the robotic arm, and the pressure-sensitive component is communicatively connected to the host computer.

[0015] The calibration device of this invention can be installed on a robotic arm. When the operator moves the robotic arm to bring the calibration device close to a specific move point on the chessboard, the pressure-sensitive component of the calibration device can contact the chessboard and generate a pressure signal after the robotic arm is adjusted to a suitable move posture. After receiving the pressure signal, the host can confirm that the current posture of the robotic arm is a suitable move posture and record the corresponding posture parameters. The calibrated move posture parameters can be used for move operations during actual gameplay, so that the robotic arm picks up the piece and releases it after moving to a suitable move posture (especially the move height), avoiding the pick-up component releasing the piece at too low or too high a position, which would affect the user experience. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of a chess-playing robot with the robotic arm and calibration device connected according to an embodiment of the present invention.

[0018] Figure 2 This is a schematic diagram of the calibration device provided in an embodiment of the present invention.

[0019] Figure 3 This is a bottom view of the calibration device provided in this embodiment of the utility model.

[0020] Figure 4 This is a top view of the calibration device provided in this embodiment of the utility model.

[0021] Figure 5 This is a schematic diagram of the pressure-sensitive component provided in an embodiment of the present invention.

[0022] Figure 6 This is an exploded view of the pressure-sensitive component provided in this embodiment of the utility model.

[0023] Figure 7 This is a schematic diagram of the robotic arm, calibration device, and pickup component provided in an embodiment of the present invention.

[0024] Figure 8 This is a schematic diagram of a chess-playing robot with the robotic arm and picking-up component connected according to an embodiment of the present invention.

[0025] Figure 9 This is a schematic diagram of the calibration process for the chess-playing robot provided in this embodiment of the utility model.

[0026] Figure label: 1. Calibration device; 11. Housing; 111. First insertion part; 12. Pressure-sensitive component; 121. Main board; 1211. First connector; 1212. Second connector; 122. Elastic element; 1221. Protrusion; 13. Indicator light; 14. Charging port; 15. Trigger switch; 2. Main unit; 3. Robotic arm; 31. Second connector; 4. Pick-up component; 5. Chessboard. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0028] The following is combined Figures 1-9 This invention describes the calibration device.

[0029] like Figure 1 , Figure 2 and Figure 3 As shown, in a first aspect, an embodiment of the present invention provides a calibration device 1, which is applied to a chess-playing robot. The chess-playing robot includes a host 2 and a robotic arm 3, with the robotic arm 3 located on the host 2.

[0030] The calibration device 1 includes a housing 11 and a pressure-sensitive component 12. The housing 11 is detachably connected to the robotic arm 3; the pressure-sensitive component 12 is disposed in the housing 11 and is used for communication connection with the host 2; the pressure-sensitive component 12 is used to contact the chessboard 5 and send a pressure signal to the host 2 when pressure is applied, so that the host 2 can determine the posture of the robotic arm 3 placing pieces on the chessboard 5 based on the pressure signal.

[0031] Understandably, the chess-playing robot is used to play chess, Go, or Gomoku with people at home; when playing chess, the place to place the piece is the center of each square on the chessboard 5; when playing Go or Gomoku, the place to place the piece is each cross point on the chessboard 5.

[0032] The housing 11 has a first end and a second end. The first end of the housing 11 can be detachably connected to the end effector of the robotic arm 3 by means of threaded connection, snap-fit, etc., and the second end of the housing 11 is connected to the pressure sensing assembly 12.

[0033] The end effector of the robotic arm 3 is provided with a connecting part that extends vertically and is configured to be selectively and detachably connected to the first end of the picking component 4 or the housing 11 for picking up chess pieces. The extension direction of the connecting part is the direction in which the chess-playing robot places its pieces.

[0034] With the housing 11 connected to the end effector of the robotic arm 3, the pressure-sensitive component 12 is located on the side of the housing 11 facing the chessboard 5, and is used to cooperate with the host 2 to calibrate the posture of the robotic arm 3 when placing a piece on the chessboard 5. Specifically, when calibrating the posture of placing a piece at a certain point on the chessboard 5, the operator can operate the host 2 to control the robotic arm 3 to move the calibration device 1 closer to the point. When the pressure-sensitive component 12 contacts the surface of the chessboard 5 and is subjected to pressure from the chessboard 5, it generates a pressure signal and sends it to the host 2. After receiving the pressure signal, the host 2 controls the robotic arm 3 to stop moving and records the current posture parameters of the robotic arm 3.

[0035] Understandably, the structure and dimensions of the housing 11 and the pressure-sensitive component 12 need to be compatible with the structure and dimensions of the pickup component 4, so that the posture of the robotic arm 3 when the pressure-sensitive component 12 contacts the chessboard 5 can be the same as the posture of the robotic arm 3 when the pickup component 4 places a piece on the chessboard 5. After the posture parameters of the robotic arm 3 when placing a piece are obtained through calibration by the calibration device 1, during actual gameplay, the host computer 2 can control the robotic arm 3 and the pickup component 4 to place pieces at the corresponding playing points according to the posture parameters. The host computer 2 controls the pickup component 4 to release the piece after the robotic arm 3 adjusts to a suitable placing posture.

[0036] The calibration device 1 of this invention can be installed on a robotic arm 3. When the operator moves the robotic arm 3 to bring the calibration device 1 close to a specific move point on the chessboard 5, the pressure-sensitive component 12 of the calibration device 1 can contact the chessboard 5 and generate a pressure signal after the robotic arm 3 is adjusted to a suitable move posture. After receiving the pressure signal, the host 2 can confirm that the current posture of the robotic arm 3 is a suitable move posture and record the corresponding posture parameters. The calibrated move posture parameters can be used for move operations during actual gameplay, so that the robotic arm 3 can pick up the piece 4 and release the piece after moving to a suitable move posture (especially the move height), avoiding the pick-up component 4 releasing the piece at too low or too high a position, which would affect the user experience.

[0037] In some embodiments, such as Figure 2 , Figure 3 , Figure 5 and Figure 6As shown, the pressure-sensitive component 12 includes a main board 121 and an elastic element 122. The main board 121 is disposed on the housing 11 and is used for communication connection with the host 2. The main board 121 is provided with a first connector 1211 and a second connector 1212. The elastic element 122 is disposed on the side of the main board 121 facing the chessboard 5, and at least part of the elastic element 122 is suspended between the first connector 1211 and the second connector 1212. The elastic element 122 is used to conduct the first connector 1211 and the second connector 1212 when pressure is applied, so that the main board 121 generates a pressure-sensitive signal.

[0038] In this embodiment, the motherboard 121 integrates a signal generation circuit. The signal generation circuit has two connection terminals: a first connector 1211 and a second connector 1212. When the first connector 1211 and the second connector 1212 are connected, the signal generation circuit can form a complete loop, and a corresponding electrical signal (pressure-sensitive signal) can be generated in the loop and sent to the host 2.

[0039] Meanwhile, the motherboard 121 has an elastic element 122 on the side facing the chessboard 5. At least a part of the structure of the elastic element 122 is located between the first connector 1211 and the second connector 1212. When the elastic element 122 is not in contact with the chessboard 5 and is under pressure, the elastic element 122 is connected to at most one of the first connector 1211 and the second connector 1212 and is separated from the other, without conducting the first connector 1211 and the second connector 1212. When the elastic element 122 is in contact with the chessboard 5 and is under pressure, the elastic element 122 deforms and simultaneously contacts the first connector 1211 and the second connector 1212, making the first connector 1211 and the second connector 1212 conduct, thereby generating a pressure-sensitive signal on the motherboard 121.

[0040] Specifically, in some embodiments, such as Figure 5 and Figure 6 As shown, one end of the elastic member 122 is connected to the first connector 1211, and the middle part of the elastic member 122 arches towards the chessboard 5 relative to the main board 121. The elastic member 122 is provided with a protrusion 1221 at the position corresponding to the second connector 1212. The protrusion 1221 is used to connect or separate from the second connector 1212.

[0041] In this embodiment, one end of the elastic element 122 is connected to the first connector 1211, and there is a certain gap between the middle part of the elastic element 122 and the surface of the main board 121, so as to contact the surface of the chessboard 5 and be deformed by pressure; a protrusion 1221 is provided on the side of the elastic element 122 facing the main board 121. When the middle part of the elastic element 122 is not deformed by pressure, there is a gap between the protrusion 1221 and the second connector 1212, and the first connector 1211 and the second connector 1212 are not connected. When the middle part of the elastic element 122 is deformed by pressure, the elastic element... The middle part of 122 bends towards the motherboard 121, and drives the protrusion 1221 and the second connector 1212 to connect the first connector 1211 and the second connector 1212, so that the motherboard 121 generates a pressure-sensitive signal; the arched structure in the middle of the elastic member 122 and the protrusion 1221 can cooperate with each other so that when the elastic member 122 is deformed under pressure and connects the first connector 1211 and the second connector 1212, there is still a sufficient gap between the surface of the chessboard 5 and the motherboard 121, so as to avoid the chessboard 5 directly contacting the motherboard 121 and causing damage to the motherboard 121.

[0042] In one specific embodiment, such as Figure 5 and Figure 6 As shown, the elastic element 122 is an M-shaped structure formed by connecting two arched structures. The first end of the elastic element 122 is connected to the first connector 1211, and the second end of the elastic element 122 is connected to the surface of the main board 121. The middle position of the elastic element 122 is recessed towards the second connector 1212 to form a protrusion 1221.

[0043] In some embodiments, such as Figure 2 As shown, the calibration device 1 also includes an indicator light 13, which is disposed on the surface of the housing 11 and electrically connected to the main board 121. The indicator light 13 is used to indicate the working status of the calibration device 1.

[0044] In this embodiment, the indicator light 13, under the control of the motherboard 121, emits different colored lights according to the working status of the calibration device 1 to indicate its working status. For example, the indicator light 13 can be an RGB light; when the calibration device 1 is not installed on the robotic arm 3 and is not communicating with the host 2, the indicator light 13 emits blue light to indicate that the calibration device 1 is not started; when the calibration device 1 is installed on the robotic arm 3 and communicating with the host 2, the indicator light 13 emits green light to indicate that the calibration device 1 is started; when the calibration device 1 malfunctions or the remaining power of the power module in the calibration device 1 is lower than a set value, the indicator light 13 emits red light. Based on the three colors emitted by the indicator light 13, the user can accurately determine the current working status of the calibration device 1.

[0045] In some embodiments, the calibration device 1 further includes a wireless communication module, which is disposed in the housing 11 and electrically connected to the motherboard 121, for transmitting pressure-sensitive signals from the motherboard 121 to the host 2. The wireless communication module can be either a Bluetooth module or a WiFi module; the calibration device 1 establishes a wireless communication connection with the host 2 of the chess-playing robot through the wireless communication module.

[0046] In some embodiments, such as Figure 2 As shown, the calibration device 1 also includes a power module and a charging interface 14; the power module is located on the housing 11 and is electrically connected to the motherboard 121; the charging interface 14 is located on the surface of the housing 11 and is electrically connected to the power module.

[0047] In this embodiment, the power module is used to supply power to the electrical components (mainly the motherboard 121) inside the calibration device 1. It is understood that if the calibration device 1 also includes indicator lights 13 and a wireless communication module, the power module can also be used to supply power to these components. The charging interface 14 is provided on the surface of the housing 11 for connecting to an external power supply device to supply power to the power module.

[0048] Specifically, the charging port 14 can be a Type-C interface, and the power module can be a lithium battery pack.

[0049] In some embodiments, such as Figure 4 As shown, the calibration device 1 also includes a trigger switch 15, which is located in the housing 11 and electrically connected to the motherboard 121. When the housing 11 is connected to the robotic arm 3, the trigger switch 15 is triggered by the robotic arm 3 to control the motherboard 121 to selectively send pressure-sensitive signals to the host 2.

[0050] In this embodiment, the trigger switch 15 can be a proximity switch, limit switch, or push-button switch, etc. When the housing 11 is not connected to the robotic arm 3, the trigger switch 15 is not triggered by the robotic arm 3. At this time, the motherboard 121 does not communicate or transmit signals with the host 2, and the calibration device 1 as a whole can maintain a low-power standby state or a power-off state. When the housing 11 is connected to the robotic arm 3, the trigger switch 15 will be triggered by the robotic arm 3, and the motherboard 121 and the host 2 will communicate and transmit signals.

[0051] Specifically, in some embodiments, such as Figure 7 As shown, the housing 11 is provided with a first plug-in part 111, and a trigger switch 15 is provided on the first plug-in part 111; the first plug-in part 111 is used to cooperate with the second plug-in part 31 on the robotic arm 3 and to trigger the trigger switch 15 by the second plug-in part 31.

[0052] In this embodiment, one of the first insertion portion 111 and the second insertion portion 31 can be a insertion hole, and the other can be a plug-in connector adapted to the insertion hole. The plug-in connector can be inserted into and removed from the insertion hole to achieve quick assembly and disassembly of the housing 11 and the robotic arm 3. When the first insertion portion 111 and the second insertion portion 31 are engaged, the second insertion portion 31 approaches and contacts the trigger switch 15, thereby triggering the trigger switch 15.

[0053] In some embodiments, such as Figure 7 As shown, the first plug-in part 111 is located on the top of the housing 11, and the pressure-sensitive component 12 is located on the bottom of the housing 11.

[0054] Specifically, the top of the housing 11 is provided with a threaded hole to form a first plug-in portion 111, and the trigger switch 15 is located at the bottom of the threaded hole; the connecting portion located at the execution end of the robotic arm 3 can be configured as a threaded connector to form a second plug-in portion 31, and the threaded connector is used for threaded connection with the threaded hole.

[0055] Specifically, in some embodiments, a mounting cavity is formed inside the housing 11, and an opening communicating with the mounting cavity is provided at the bottom of the housing 11. Secondly, such as Figure 1 and Figure 8 As shown, this utility model also provides a chess-playing robot, including: a host 2, a robotic arm 3, a picking component 4, and a calibration device 1 provided in any of the above embodiments. The robotic arm 3 is disposed on the host 2, and the host 2 and the robotic arm 3 are communicatively connected; the picking component 4 is detachably connected to the robotic arm 3 and is used to pick up chess pieces; the housing 11 of the calibration device 1 is detachably connected to the robotic arm 3, and the pressure-sensitive component 12 is communicatively connected to the host 2.

[0056] Understandably, the host 2 serves as the mounting platform for the robotic arm 3, with the base of the robotic arm 3 rotatably mounted on the host 2, and the end effector of the robotic arm 3 being detachably connected to the pickup component 4 or the calibration device 1.

[0057] like Figure 7 As shown, the pickup component 4 can be a negative pressure suction nozzle, which is used to pick up or release chess pieces. The threaded connector (i.e., the second insertion part 31) on the robotic arm 3 can be threadedly connected to either the negative pressure suction nozzle or the calibration device 1.

[0058] The robotic arm 3 can be a multi-degree-of-freedom robotic arm, such as a six-axis robotic arm. Optionally, the robotic arm 3 includes a large arm and a small arm. The first end of the large arm is rotatably mounted on the host 2. The second end of the large arm and the first end of the small arm are rotatably connected. The second end of the small arm is detachably connected to the pickup component 4 or the calibration device 1.

[0059] Meanwhile, each joint of the robotic arm 3 is equipped with an angle sensor, and each angle sensor is connected to the host 2 for communication. The host 2 can control the rotation angle of each joint according to the angle information fed back by each angle sensor, thereby realizing the adjustment of the posture of the robotic arm 3.

[0060] In practical applications, when it is necessary to calibrate the chess-playing robot, the end effector of the robotic arm 3 is connected to the calibration device 1; when it is necessary to play a game based on the chess-playing robot, the end effector of the robotic arm 3 is connected to the picking component 4.

[0061] Since the chess-playing robot includes a calibration device 1, and the specific structure of the calibration device 1 is as described in the above embodiments, the chess-playing robot of this embodiment includes all the technical solutions of the above embodiments. Therefore, it has at least all the beneficial effects achieved by all the technical solutions of the above embodiments, which will not be described in detail here.

[0062] like Figure 9 As shown, the calibration process for the chess-playing robot of this utility model is as follows: When a user powers on the machine for the first time, the interface of Host 2 will display a screen prompting the user to perform calibration, preventing a poor user experience due to initial use. If calibration is needed after the user reassembles the machine or changes its location, they can also manually perform calibration on Host 2 or the server.

[0063] After the chess-playing robot switches to calibration mode, the display screen on the host 2 will show instructions for the entire calibration process to guide the user through the entire calibration process. After the user installs the calibration device 1 on the robotic arm 3, the trigger switch 15 is triggered, the calibration device 1 is powered on, and it communicates with the host 2. Then the chess-playing robot begins its traversal work, calibrating the position of each move set in the system.

[0064] For example, the horizontal coordinates of each placement point have been pre-calibrated and calibrated. The robotic arm 3 can be controlled to move sequentially towards the top of each placement point, and then lowered to bring the calibration device 1 closer to the placement point. During the descent, the pressure signal from the pressure-sensitive component 12 is used to determine whether the robotic arm 3 has adjusted to the appropriate placement posture. After the host 2 receives the pressure signal from the pressure-sensitive component 12 (whether there is current on the elastic element 122), it immediately controls the robotic arm 3 to retract. The host 2 records the descent height of the robotic arm 3 and determines the optimal posture parameters of the robotic arm 3 at that placement point based on the descent height. If there is an abnormality when the user assembles the chessboard 5, causing the pressure-sensitive component 12 to fail to contact the chessboard 5 and generate a pressure signal when the robotic arm 3 moves to its limit position, the position of the chessboard 5 will be determined to be abnormal, the calibration will be paused, and a prompt screen will be displayed on the operation interface, prompting the user to check the assembly status of the chessboard 5.

[0065] It should be noted that when the host 2 records the descent height of the robotic arm 3 and determines the optimal posture parameters of the robotic arm 3 at the placement point based on the descent height, it is necessary to consider whether the height difference between the part of the pressure-sensitive component 12 that is in contact with the chessboard 5 and the end of the robotic arm 3 is consistent with the height difference between the chess piece and the end of the robotic arm 3 after the picking-up component 4 adsorbs the chess piece. If the two are inconsistent, when determining the posture parameters of the robotic arm 3 when placing the piece, it is also necessary to consider the relative position of the adsorbed chess piece and the pressure-sensitive component 12 and the end of the robotic arm 3.

[0066] After all the placement points on chessboard 5 have been recalibrated, the operating interface of host 2 will remind the user that the calibration is complete and to remove calibration device 1. Furthermore, in actual use, there is a possibility that the user may accidentally place foreign objects under chessboard 5, causing calibration errors. Therefore, after calibration, host 2 will not directly overwrite the factory data with this data. Instead, it will compare the new data with the old data. If the difference between the new and old data is too large, for example, if the old calibration data shows a drop of 5mm and the new data shows a drop of 2mm or 8mm, it can be determined as a calibration abnormality. The user should then check and confirm whether it is an actual abnormality and whether recalibration is necessary.

[0067] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A calibration device for a chess-playing robot, the chess-playing robot comprising a main unit and a robotic arm, the robotic arm being disposed on the main unit, characterized in that, The calibration device includes: A housing for detachable connection to the robotic arm; A pressure-sensitive component is disposed in the housing and is used for communication connection with the host computer; The pressure-sensitive component is used to contact the chessboard and send a pressure signal to the host computer when pressure is applied, so that the host computer can determine the posture of the robotic arm to place a piece on the chessboard based on the pressure signal.

2. The calibration device according to claim 1, characterized in that, The pressure-sensitive component includes: A motherboard, disposed in the housing, is used for communication connection with the host, and the motherboard is provided with a first connector and a second connector; An elastic element is disposed on the side of the main board facing the chessboard, and at least a portion of the elastic element is suspended between the first connector and the second connector; The elastic element is used to conduct the first connector and the second connector when compressed, so that the motherboard generates the pressure-sensitive signal.

3. The calibration device according to claim 2, characterized in that, One end of the elastic element is connected to the first connector, the middle part of the elastic element arches towards the chessboard relative to the motherboard, and the elastic element has a protrusion at the position corresponding to the second connector, the protrusion being used to connect or separate from the second connector.

4. The calibration device according to claim 2, characterized in that, Also includes: An indicator light is located on the surface of the housing and is electrically connected to the motherboard. The indicator light is used to indicate the working status of the calibration device.

5. The calibration device according to claim 2, characterized in that, Also includes: A wireless communication module is disposed in the housing and electrically connected to the motherboard, for transmitting the pressure-sensitive signal of the motherboard to the host.

6. The calibration device according to claim 2, characterized in that, Also includes: A power module is disposed in the housing and electrically connected to the motherboard; A charging interface is located on the surface of the housing and is electrically connected to the power module.

7. The calibration apparatus according to any one of claims 2 to 6, characterized in that, Also includes: A trigger switch is located in the housing and electrically connected to the motherboard; In the case where the housing is connected to the robotic arm, the trigger switch is triggered by the robotic arm to control the motherboard to selectively send the pressure-sensitive signal to the host.

8. The calibration apparatus according to claim 7, characterized in that, The housing is provided with a first plug-in portion, and the trigger switch is located on the first plug-in portion; the first plug-in portion is used to engage with a second plug-in portion on the robotic arm, and to cause the second plug-in portion to trigger the trigger switch.

9. The calibration apparatus according to claim 8, characterized in that, The first plug-in portion is located at the top of the housing, and the pressure-sensitive component is located at the bottom of the housing.

10. A chess-playing robot, characterized in that, include: A host computer and a robotic arm, wherein the robotic arm is mounted on the host computer and the host computer and the robotic arm are communicatively connected; A picking-up component, detachably connected to the robotic arm, is used to pick up chess pieces; The calibration device as described in any one of claims 1 to 9, wherein the housing of the calibration device is detachably connected to the robotic arm, and the pressure-sensitive component is communicatively connected to the host computer.

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