Robotic arm and chess-playing robot

Abstract

A robotic arm and a chess-playing robot. The robotic arm (1) comprises: a first arm (10); a second arm (20), wherein a first end (201) of the second arm (20) is rotatably connected to the first arm (10); a gripping mechanism (30) connected to a second end (202) of the second arm (20), wherein the gripping mechanism (30) is configured to grip or release a target object; and a first driving mechanism (40) connected to the first end (201) of the second arm (20), wherein the first driving mechanism (40) drives the first end (201) of the second arm (20) to rotate and drives the second arm (20) to move between a first angle and a second angle relative to the first arm (10). When the second arm (20) is at the first angle relative to the first arm (10), in the direction of gravity, the second arm (20) is higher than the first arm (10). Since the second arm (20) can be lifted to be higher than the first arm (10), the arrangement position of the first arm (10) can be relatively lowered without the need to arrange the first arm (10) at a higher position, thereby reducing the space occupied by the robotic arm (1).

Description

Mechanical arm and chess playing robot

[0001] The present application claims priority to the Chinese patent application No. 202422032309.0, filed on August 20, 2024, and entitled "Mechanical arm and chess playing robot", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] Embodiments of the present application relate to, but are not limited to, the field of mechanical arms, and in particular to a mechanical arm and a chess playing robot. BACKGROUND

[0003] With the development of communication technology and the like, the application scenarios and fields of artificial intelligence are also increasing. The mechanical arm for playing chess can make chess move decisions according to relevant instructions, realize playing chess with a user, can simulate a real chess playing scenario, and improve the fun of human-computer chess playing.

[0004] In the related art, when the mechanical arm moves the chess pieces on the chessboard, it occupies a large space, so that the space occupied by the entire chess playing robot is also difficult to reduce, affecting the user experience.

[0005] Utility model content

[0006] To solve the above technical problems, the present application provides a mechanical arm and a chess playing robot, which can reduce the space occupied by the mechanical arm.

[0007] The present application is implemented by the following technical solutions.

[0008] In a first aspect, the present application provides a mechanical arm, comprising: a first arm; a second arm, a first end of the second arm being rotatably connected to the first arm; a piece taking mechanism, connected to a second end of the second arm, the piece taking mechanism being used for gripping or releasing a target object; and a first driving mechanism, connected to the first end of the second arm, the first driving mechanism driving the first end of the second arm to rotate and driving the second arm to move between a first angle and a second angle with the first arm, wherein, when the second arm is at the first angle with the first arm, the second arm is higher than the first arm in the direction of gravity.

[0009] In a possible implementation manner of the present application, the second arm comprises a first connecting rod and a second connecting rod respectively extending from the first end to the second end, the first driving mechanism drives the first connecting rod and / or the second connecting rod, and the first connecting rod and the second connecting rod move synchronously.

[0010] In a possible implementation of the present application, the first connecting rod is connected to the first driving mechanism in a non-transmission mode; and the second connecting rod is connected to the first driving mechanism in a transmission mode, wherein the first driving mechanism drives the second connecting rod to move.

[0011] In a possible implementation of the present application, in the direction of gravity, the second connecting rod is below the first connecting rod, and the second connecting rod is a lower shell of the second arm to cover the first connecting rod.

[0012] In a possible implementation of the present application, a first end of the first connecting rod is connected to the first driving mechanism, a second end of the first connecting rod is connected to the taking mechanism, the first connecting rod drives the taking mechanism to move when the first connecting rod moves, and the taking mechanism moves in parallel to the direction of gravity when the taking mechanism moves.

[0013] In a possible implementation of the present application, a first end of the second connecting rod is connected to the first driving mechanism, and a second end of the second connecting rod is provided with a receiving portion for receiving the taking mechanism.

[0014] In a possible implementation of the present application, the first connecting rod comprises a first part, a second part and a transition part, the transition part connects the first part and the second part, and the extension direction of the transition part is obliquely intersected with respect to the extension direction of the first part and the extension direction of the second part.

[0015] In a possible implementation of the present application, in the direction of gravity, the second part is higher than the first part.

[0016] In a possible implementation of the present application, the first connecting rod comprises a pair of first connecting rods arranged side by side.

[0017] In a possible implementation of the present application, the second arm further comprises an upper shell connected to the lower shell to form a receiving cavity, and the first connecting rod is located in the receiving cavity.

[0018] In a possible implementation of the present application, the taking mechanism comprises a second driving mechanism located at one end of the taking mechanism connected to the second end of the second arm, a plurality of transmission members rotationally connected to the second driving mechanism, and a plurality of clamps respectively connected to the plurality of transmission members, wherein the second driving mechanism drives the plurality of transmission members to drive the plurality of clamps to move synchronously.

[0019] In a possible implementation of the present application, an end of the clamp for grabbing the target object is provided with a grabbing portion, and the shape of the grabbing portion is matched with the shape of the target object.

[0020] In a possible implementation of the present application, the first arm drives the second arm to move in a horizontal direction, and the second arm drives the picking mechanism to move in a direction of gravity.

[0021] In a second aspect, the embodiments of the present application provide a chess robot, comprising: a robot body; and the mechanical arm according to any one of the first aspect, which is connected to the robot body and is movable relative to the robot body to operate on a target object.

[0022] According to the present application, the first driving mechanism drives the first end of the second arm to rotate and drives the second arm to move between the first angle and the second angle relative to the first arm, and when the second arm is at the first angle relative to the first arm, the second arm is higher than the first arm in the direction of gravity. The second arm can be lifted to be higher than the first arm when picking up a target object, so that the probability of colliding with or knocking down other target objects can be reduced when picking up. Moreover, since the second arm can be lifted to be higher than the first arm, the setting position of the first arm can be relatively lowered, and the first arm does not need to be set at a higher position, so that the space below the first arm can be saved. BRIEF DESCRIPTION OF DRAWINGS

[0023] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The detailed description is made with reference to the accompanying drawings.

[0024] FIG. 1 is a structural schematic diagram of a mechanical arm according to some embodiments of the present application;

[0025] FIG. 2 is a structural schematic diagram of a mechanical arm according to some embodiments of the present application;

[0026] FIG. 3 is a structural schematic diagram of a mechanical arm according to some embodiments of the present application;

[0027] FIG. 4 is a structural schematic diagram of a mechanical arm according to some embodiments of the present application;

[0028] FIG. 5 is a structural schematic diagram of a picking mechanism according to some embodiments of the present application;

[0029] FIG. 6 is a structural schematic diagram of a picking mechanism according to some embodiments of the present application;

[0030] FIG. 7 is a structural schematic diagram of a chess robot according to some embodiments of the present application. DETAILED DESCRIPTION

[0031] The embodiments of the present application will be described in detail below with reference to the drawings. The following examples are only used to more clearly illustrate the technical scheme of the present application, and therefore only serve as examples, but cannot be used to limit the protection scope of the present application.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application; the present specification and claims and the aforementioned description of the drawings herein, the terms "comprising", "comprises" and "having" and any variations thereof, are intended to cover a non-exclusive inclusion.

[0033] In the description of the embodiments of the present application, the technical terms "first", "second", "third" and the like are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the technical features indicated. In the description of the embodiments of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly and specifically limited.

[0034] In this paper, the reference to "embodiments" means that the specific features, structures or properties described in conjunction with the embodiments can be included in at least one embodiment of the present application. The appearance of this phrase at various places in the specification does not necessarily mean the same embodiment, nor is it an independent or alternative embodiment to other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0035] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship between the associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone. In addition, the character " / " in this paper generally represents that the front and rear associated objects are "or" relationship.

[0036] In the description of the embodiments of the present application, the technical terms "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the embodiments of the present application and simplifying the description, and is not intended to indicate or imply that the devices or elements referred to must have a particular orientation, be constructed, operated or used in a particular orientation, and therefore cannot be understood as limiting the embodiments of the present application.

[0037] In the description of the embodiments of the present application, unless explicitly defined and limited otherwise, the technical terms "mounting", "connecting", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0038] In the description of the embodiments of the present application, unless explicitly defined and limited otherwise, the technical term "contact" should be understood in a broad sense, which can be direct contact or contact through an intermediate medium layer, and can be contact between two objects with substantially no interaction force or contact between two objects with interaction force.

[0039] With the development of communication technology and the like, the application scenarios and fields of artificial intelligence are also more and more. The mechanical arm for playing chess can make chess decision according to the relevant instructions, realize the game with the user, can simulate the real game scene, and improve the fun of man-machine game.

[0040] In the related art, when the mechanical arm moves the chess pieces on the chessboard, it occupies a large space, so that the space occupied by the whole chess playing robot is also difficult to reduce, which affects the user's use experience.

[0041] To solve the above technical problems, the present application provides a mechanical arm and a chess playing robot, which can reduce the space occupied by the mechanical arm.

[0042] The mechanical arm provided by the present application comprises: a first arm; a second arm, a first end of the second arm being rotatably connected to the first arm; a piece taking mechanism connected to a second end of the second arm, the piece taking mechanism being used for gripping or releasing a target object; and a first driving mechanism connected to the first end of the second arm, the first driving mechanism driving the first end of the second arm to rotate and driving the second arm to move between a first angle and a second angle with the first arm, wherein, when the second arm is at the first angle with the first arm, the second arm is higher than the first arm in the direction of gravity.

[0043] By the present application, the first driving mechanism drives the first end of the second arm to rotate and drives the second arm to move between the first angle and the second angle with the first arm, when the second arm is at the first angle with the first arm, the second arm is higher than the first arm in the direction of gravity. The second arm can be lifted to be higher than the first arm when grabbing the target object, so that the probability of touching or knocking down other target objects during grabbing can be reduced. Moreover, since the second arm can be lifted to be higher than the first arm, the setting position of the first arm can be relatively lowered, without the need to set the first arm at a higher position or to lift the first arm, so that the space below the first arm can be saved.

[0044] FIG. 1 is a structural schematic diagram of a mechanical arm provided by some embodiments of the present application; FIG. 2 is a structural schematic diagram of a mechanical arm provided by some embodiments of the present application; FIG. 3 is a structural schematic diagram of a mechanical arm provided by some embodiments of the present application; and FIG. 4 is a structural schematic diagram of a mechanical arm provided by some embodiments of the present application. Among them, FIG. 1 and FIG. 2 are structural schematic diagrams of the second arm being lowered, and FIG. 2 and FIG. 3 are structural schematic diagrams of the second arm being lifted.

[0045] As shown in FIG. 1 to FIG. 4, the mechanical arm 1 of the present application can include a first arm 10, a second arm 20, a picking mechanism 30 and a first driving mechanism 40. Among them, the second arm 20 can have a first end 201 and a second end 202, the first arm 10 is rotatably connected to the first end 201, and the first arm 10 can rotate relative to the second arm 20. The picking mechanism 30 can be connected to the second end 202, and the picking mechanism 30 is used to grab or release the target object.

[0046] In the present application, the first driving mechanism 40 can be arranged on the first arm 10, or arranged on the second arm 20. In some embodiments, the first driving mechanism 40 can also be arranged on a connecting piece for connecting the first arm 10 and the second arm 20, which is not limited in the present application.

[0047] In the present application, the first driving mechanism 40 can be a gear, which can be driven to rotate by a motor 50 to further drive the second arm 20 to move. In the present application, the first driving mechanism 40 can not be a complete gear, for example, it can be a half gear, which is beneficial to reduce the size of the whole mechanical arm 1 and save space.

[0048] In the present application, the first driving mechanism 40 can drive the first end 201 of the second arm 20 to rotate and drive the second arm 20 to move between the first angle and the second angle with the first arm 10. As shown in FIG. 1 and FIG. 2, the first arm 10 and the second arm 20 can be in a state of almost relative parallel, at this time, the angle between the first arm 10 and the second arm 20 can be the second angle, for example, it can be about 0°.

[0049] As shown in FIG. 3 and FIG. 4, when the second arm 20 is lifted, the first arm 10 and the second arm 20 can form a second angle, which can be greater than 0° and less than 135°, for example. In some embodiments, the second angle can be 30°, 45°, 60°, or 90°, which are not limited in the present application.

[0050] As shown in FIG. 3 and FIG. 4, when the second arm 20 is at the first angle with the first arm 10, the second arm 20 is higher than the first arm 10 in the gravity direction y. The gravity direction refers to the vertical direction relative to the horizontal plane. If the extension direction of the first arm 10 is the horizontal direction, the gravity direction can be the vertical direction. In the gravity direction y, the second arm 20 is lifted upward and is higher than the first arm 10. The height of the second arm 20 lifted upward can be defined as the height of the picking mechanism 30 after picking the highest target object, and the extension length of the second arm 20 can also be defined according to the height. Since the height of the second arm 20 lifted upward can exceed the highest target object, this design does not need to lift the entire robot arm 1, but only needs to lift the second arm 20.

[0051] In the present application, as shown in FIG. 1 and FIG. 2, the robot arm 1 can move the first arm 10 to the target object to be grabbed in the horizontal direction x. Then, the second arm 20 can move downward for grabbing. After being grabbed, as shown in FIG. 3 and FIG. 4, the second arm 20 can move upward, and after the second arm 20 moves to a position where the grabbed target object is higher than other target objects, the first arm 10 can move the second arm 20 to a target position in the horizontal direction x, and then the second arm 20 can move downward to place the target object at the target position. It should be pointed out that the above-described moving and grabbing manner is only an example and is not limited thereto.

[0052] In a possible implementation manner of the present application, as shown in FIG. 1 to FIG. 4, the second arm 20 can include a first connecting rod 21 and a second connecting rod 22 respectively extending from a first end 201 to a second end 202.

[0053] In a possible implementation manner of the present application, in the gravity direction, the second connecting rod 22 can be located below the first connecting rod 21, and the second connecting rod 22 can serve as a lower housing of the second arm 20 to cover the first connecting rod 21.

[0054] In the present application, the second connecting rod 22 serves as the lower housing of the second arm 20, which can cover the first connecting rod 21. Such a design makes the second connecting rod 22 not only drive the picking device 30, but also protects the first connecting rod 21 from external damage and reduces the probability of damage to the operating personnel or other objects in the activity of the first connecting rod 21.

[0055] In the present application, the first driving mechanism 40 can drive the first connecting rod 21, and the first connecting rod 21 drives the second connecting rod 22 to move synchronously.

[0056] For example, in a possible implementation manner of the present application, the first connecting rod 21 is connected to the first driving mechanism 40 in a non-transmission manner, and the second connecting rod 22 is connected to the first driving mechanism 40 in a transmission manner, wherein the first driving mechanism 40 drives the second connecting rod 22 to move.

[0057] The first driving mechanism 40 drives the second connecting rod 22 to move, and in turn drives the first connecting rod 21 to move, so as to realize the overall movement of the second arm 20, and in turn drives the taking mechanism 30 to move.

[0058] However, the present application is not limited to this, in the present application, the first driving mechanism 40 can drive the second connecting rod 22, and the second connecting rod 22 drives the first connecting rod 21 and the second connecting rod to move synchronously. In the present application, the first driving mechanism 40 can drive the first connecting rod 21 and the second connecting rod 22, and the first connecting rod 21 and the second connecting rod 22 move synchronously.

[0059] In a possible implementation manner of the present application, the first end of the first connecting rod 21 is connected to the first driving mechanism 40, and the second end of the first connecting rod 21 can be connected to the taking mechanism 30, and the first connecting rod 21 drives the taking mechanism 30 to move when the first connecting rod 21 moves, and the taking mechanism 30 moves parallel to the direction of gravity when the taking mechanism 30 moves. Such a design can make the taking mechanism 30 present a vertical state during movement, which can reduce the probability of the taking mechanism 30 knocking down other target objects during movement.

[0060] In a possible implementation manner of the present application, as shown in FIGS. 1 to 4, the first end of the second connecting rod 22 is connected to the first driving mechanism 40, and the second end of the second connecting rod 22 is provided with a containing portion 221, which can be used to contain the taking mechanism 30. During the up-and-down movement of the second arm 20, the taking mechanism 30 can be contained in the containing portion 221.

[0061] It should be pointed out that in the above statements, the first end and the second end of the first connecting rod 21 and the second connecting rod 22 can correspond to the positions of the first end 201 and the second end 202 of the second arm 20 respectively.

[0062] In a possible implementation manner of the present application, as shown in FIG. 2, the first connecting rod 21 can include a first portion 211, a second portion 212 and a transition portion 213, the transition portion 213 can connect the first portion 211 and the second portion 212, and the extension direction of the transition portion 213 is obliquely intersected with the extension direction of the first portion 211 and the extension direction of the second portion 212.

[0063] In a possible implementation of the present application, the first connecting rod comprises a pair of first connecting rods arranged side by side.

[0064] As shown in FIG. 7, in a possible implementation of the present application, the second arm 20 can further comprise an upper shell 23, which can be connected with the lower shell to form a containing cavity, and the first connecting rod 21 can be located in the containing cavity. In such an arrangement, the upper shell 23 can form a containing space together with the lower shell (the second connecting rod 22), and the first connecting rod 21 and other components can be contained inside, so as to reduce the probability of damage to the mechanical arm 1 and the probability of damage to other people or components.

[0065] As shown in FIG. 7, the upper shell 23 can be provided with an interference portion 213, which can be inwardly recessed, so as to reduce the probability of interference with the first arm 10 when the second arm 20 is lifted. Meanwhile, such an arrangement is also conducive to lifting the second arm 20 higher.

[0066] In a possible implementation of the present application, as shown in FIG. 2, in the direction of gravity, the second portion 212 can be higher than the first portion 211. In such an arrangement, it is conducive to increasing the overall height of the second arm 22 and reducing the probability of interference between the upper shell and the shell of the first arm 10.

[0067] FIG. 5 is a structural schematic view of a pick-up mechanism provided by some embodiments of the present application; and FIG. 6 is a structural schematic view of a pick-up mechanism provided by some embodiments of the present application.

[0068] In a possible implementation of the present application, as shown in FIG. 5 and FIG. 6, the pick-up mechanism 30 can comprise: a second driving mechanism 32, located at one end of the pick-up mechanism 30 connected with the second end 202 of the second arm 22; a plurality of transmission members 33, rotationally connected with the second driving mechanism 32; and a plurality of grippers 31, respectively connected with the plurality of transmission members 33, the second driving mechanism 32 driving the plurality of transmission members 33 to drive the plurality of grippers 31 to move synchronously.

[0069] In a possible implementation of the present application, the end of the gripper 31 for grabbing the target object 2 has a grabbing portion 311, and the shape of the grabbing portion 311 is adapted to the shape of the target object 2. Such an arrangement is conducive to more stable grabbing of the target object 2 by the grabbing portion 311.

[0070] Based on the same concept, the embodiments of the present application provide a chess robot, comprising: a robot body 3; and the mechanical arm 1 as any one of the first aspect, which can be connected to the robot body 3 and can move relative to the robot body 3 to operate the target object 2.

[0071] In the present application, the chess-playing robot can make chess move decisions through an artificial intelligence system and implement a game with a user through relevant mechanical structures operating physical chess pieces. The game can be in any possible form, such as Chinese chess, international chess, Go, military chess, checkers, and Gomoku. It can also be a type of folk chess, such as the rotating chess, counter chess, and tiger chasing chess in Chaozhou. The chess set for the game can include a chessboard, chess pieces (target objects 2), and the like.

[0072] Through the present application, the first driving mechanism drives the first end of the second arm to rotate and drives the second arm to move between the first angle and the second angle with the first arm. When the second arm is at the first angle with the first arm, the second arm is higher than the first arm in the direction of gravity. The second arm can be lifted to be higher than the first arm when grabbing the target object, so that the probability of touching or knocking down other target objects during grabbing can be reduced. Moreover, since the second arm can be lifted to be higher than the first arm, the setting position of the first arm can be relatively lowered, and the first arm does not need to be set at a higher position, so that the space below the first arm can be saved. Further, the placing space of the chess-playing robot can be saved.

[0073] If the technical solution of the present application involves personal information, the product applying the technical solution of the present application has clearly informed the personal information processing rules before processing the personal information and has obtained the personal independent consent. If the technical solution of the present application involves sensitive personal information, the product applying the technical solution of the present application has obtained the personal independent consent before processing the sensitive personal information and at the same time meets the requirement of "explicit consent". For example, at the personal information collection device such as a camera, a clear and prominent sign is set to inform that the personal information collection range has been entered and the personal information will be collected. If the individual voluntarily enters the collection range, it is considered to agree to collect the personal information. Or, on the device for processing personal information, through the pop-up information or by asking the individual to upload his / her personal information, the individual's authorization is obtained under the condition that the individual is informed of the personal information processing rules through obvious signs / information. The personal information processing rules can include the personal information processor, the processing purpose, the processing method, and the type of processed personal information.

[0074] The above embodiments are only used to illustrate the technical solutions of the present application, rather than limit them; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that the technical solutions recorded in the foregoing embodiments can still be modified, or some or all of the technical features can be replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should be covered in the scope of the claims and the specification of the present application. In particular, as long as there is no structural conflict, each technical feature mentioned in each embodiment can be combined in any way. The present application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1.A mechanical arm, comprising: a first arm; a second arm, a first end of the second arm being rotatably connected to the first arm; a picking mechanism, connected to a second end of the second arm, the picking mechanism being used to grip or release a target object; and a first driving mechanism, connected to the first end of the second arm, the first driving mechanism driving the first end of the second arm to rotate and moving the second arm between a first angle and a second angle with the first arm, wherein, when the second arm is at the first angle with the first arm, the second arm is higher than the first arm in a direction of gravity. 2.The mechanical arm according to claim 1, wherein the second arm comprises a first link and a second link respectively extending from the first end to the second end, a first driving mechanism driving the first link and / or the second link, the first link and the second link thereby moving synchronously. 3.The mechanical arm according to claim 2, wherein the first link is connected to the first driving mechanism in a non-transmission manner; the second link is connected to the first driving mechanism in a transmission manner, wherein the first driving mechanism drives the second link to move. 4.The mechanical arm according to claim 2, wherein in the direction of gravity, the second link is below the first link, the second link being a lower housing of the second arm to cover the first link. 5.The mechanical arm according to claim 4, wherein a first end of the first link is connected to the first driving mechanism, a second end of the first link is connected to the picking mechanism, the first link moving to drive the picking mechanism to move, and the picking mechanism moving to be parallel to the direction of gravity. 6.The mechanical arm according to claim 2, wherein a first end of the second link is connected to the first driving mechanism, a second end of the second link is provided with a receiving portion for receiving the picking mechanism. 7.The mechanical arm according to claim 2, wherein the first link comprises a first part, a second part and a transition part, the transition part connecting the first part and the second part, an extension direction of the transition part being obliquely intersected with respect to an extension direction of the first part and with respect to an extension direction of the second part. 8.The mechanical arm according to claim 7, wherein in the direction of gravity, the second part is higher than the first part. 9.The mechanical arm according to claim 2, wherein the first link comprises a pair of first links arranged side by side. 10.The mechanical arm according to claim 4, wherein the second arm further comprises an upper housing, the upper housing being connected with the lower housing to form a receiving cavity, the first link being located in the receiving cavity. 11.The mechanical arm according to claim 10, wherein the upper housing further comprises an interference portion, the interference portion being inwardly recessed. 12.The mechanical arm according to any one of claims 1 to 11, wherein the picking mechanism comprises: a second driving mechanism, located at one end of the picking mechanism connected to the second end of the second arm; ​ a plurality of transmission members rotatably connected to the second driving mechanism; and a plurality of grippers respectively connected to the plurality of transmission members, the second driving mechanism driving the plurality of transmission members to drive the plurality of grippers to move synchronously. 13.The mechanical arm according to claim 12, wherein an end portion of the gripper for grabbing the target object has a grabbing portion, the grabbing portion having a shape adapted to a shape of the target object. 14.The mechanical arm according to any one of claims 1 to 11, wherein the first arm drives the second arm to move in a horizontal direction, and the second arm drives the taking mechanism to move in a direction of gravity. 15.A chess robot, comprising: a robot body; and the mechanical arm according to any one of claims 1 to 13, the mechanical arm being connected to the robot body and movable relative to the robot body to operate on a target object.

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