Chess-playing robot

Abstract

The present application relates to a chess-playing robot, comprising a chessboard and a robotic arm. The chessboard comprises two housings rotatably connected; each housing comprises a first plane and a second plane opposite to each other in the thickness direction; each second plane is provided with a recess; when the two housings rotate away from each other and the chessboard is unfolded, the two first planes are aligned and assembled to form a board surface of the chessboard; and when the two housings rotate towards each other and the chessboard is folded, the two recesses are communicated to form an accommodating cavity. The robotic arm comprises a base, a driving mechanism, and a pickup mechanism; the base is detachably connected to the chessboard; the pickup mechanism is used for picking up or placing pieces on the chessboard; the driving mechanism is transmittingly connected between the pickup mechanism and the base; the driving mechanism is used for driving the pickup mechanism to move relative to the chessboard; the driving mechanism is further used for driving the pickup mechanism and the base to approach each other so as to fold the robotic arm; and the accommodating cavity is used for accommodating the folded robotic arm. In the chess-playing robot of the present application, the chessboard is foldable, and the robotic arm is foldable, thereby reducing the space occupied thereby.

Description

Chess robot TECHNICAL FIELD

[0001] The present application relates to the field of chess robots, and particularly relates to a chess robot. BACKGROUND

[0002] The chess robot moves the chess pieces on the chessboard through a mechanical arm, and the mechanical arm occupies a large space after being connected with the chessboard, which is not convenient for transportation and storage of the chess robot.

[0003] SUMMARY

[0004] In view of the above-mentioned technical problems, the purpose of the present application is to provide a chess robot capable of being folded and stored, which specifically comprises the following technical solutions:

[0005] The present application provides a chess robot, which comprises a chessboard and a mechanical arm. The chessboard comprises two housings connected by rotation. Each housing comprises a first plane and a second plane arranged in opposite directions along the thickness direction. Each second plane is provided with a groove. When the two housings are rotated away from each other and the chessboard is unfolded, the two first planes are aligned and spliced to form the playing surface of the chessboard. When the two housings are rotated towards each other and the chessboard is folded, the two grooves are connected to form a containing cavity. The mechanical arm comprises a base, a driving mechanism and a picking mechanism. The base is detachably connected with the chessboard. The picking mechanism is used for picking or placing the chess pieces on the chessboard. The driving mechanism is drivingly connected between the picking mechanism and the base. The driving mechanism is used for driving the picking mechanism to move relative to the chessboard. The driving mechanism is also used for driving the picking mechanism and the base to move towards each other to fold the mechanical arm. The containing cavity is used for containing the folded mechanical arm.

[0006] The chess robot of the present application comprises two housings connected by rotation. When the two housings are rotated away from each other, the two first planes are aligned and spliced to form the playing surface of the chessboard to unfold the chessboard. The playing surface can carry the chess pieces. After the mechanical arm is connected with the chessboard, the chess robot can move the chess pieces on the playing surface through the mechanical arm to make the chess robot work normally.

[0007] The chess robot of the present application can be folded and stored when it is idle, i.e. the two housings are rotated towards each other. The two second planes are attached and the two grooves are connected to form a containing cavity to fold the chessboard. Compared with the unfolded chessboard, the overall size of the folded chessboard is smaller, which reduces the occupied space of the chessboard. At the same time, the connection between the mechanical arm and the chessboard is detachable. The detached mechanical arm can be stored in the containing cavity after being folded, which further reduces the occupied space of the chess robot.

[0008] In one embodiment, each groove comprises a first region and a second region. The first region and the second region are arranged along the plane direction of the second plane. The depth of the first region is greater than the depth of the second region. When the chessboard is folded, the two first regions are aligned along the plane direction of the second plane.

[0009] In the embodiment, the first region of each shell has a depth greater than that of the second region, and the first regions of the two shells are aligned to form a larger accommodation space. When the disassembled robot arm is accommodated in the accommodation cavity, the larger part of the robot arm is placed in the first region, and the other part of the robot arm is placed in the second region.

[0010] In an embodiment, the at least one groove includes a third region, the third region is spaced apart from the first region along a direction in which the second plane lies, and the second region is in communication between the first region and the third region. The third region has a depth greater than that of the second region.

[0011] In the embodiment, the third region has a depth greater than that of the second region, and the second region is in communication between the first region and the third region. The third region can be used in cooperation with the first region to accommodate the larger part of the robot arm. The third region can also be used to accommodate chess pieces or other detachable components of a chess-playing robot.

[0012] In an embodiment, each shell is provided with a mounting interface on the side wall. The two mounting interfaces are located on the same side of the two shells along the rotation axis of the two shells. When the chessboard is unfolded, the distance between the two mounting interfaces is less than or equal to the size of the robot arm along the direction in which the two shells are arranged.

[0013] In the embodiment, the robot arm is connected to the chessboard through the mounting interfaces on the side walls of the shells. The distance between the two mounting interfaces changes with the relative rotation of the two shells. When the chessboard is unfolded, the distance between the two mounting interfaces is less than or equal to the size of the robot arm, facilitating the connection between the robot arm and the chessboard. Magnets are installed near the mounting interfaces of the robot arm and the mounting interfaces of the chessboard, enabling the installation of the robot arm and the chessboard through magnetic attraction, making the operation very simple. At the same time, the chessboard can be disassembled without special operation.

[0014] In an embodiment, the rotation connection of the two shells forms a rotation shaft, the axis of the rotation shaft is located in the plane in which the two second planes lie, each shell includes a plurality of spaced-apart legs, the plurality of legs are fixed to the second plane and spaced apart from the groove, and the size of each leg along the thickness direction of the shell is greater than or equal to the radius of the rotation shaft.

[0015] In the embodiment, the rotation connection of the two shells forms a rotation shaft, the axis of the rotation shaft is located in the plane in which the two second planes lie to ensure that the two first planes can be aligned and spliced when the chessboard is unfolded, and the two second planes can be attached when the chessboard is folded. In addition, when the chessboard is unfolded, part of the rotation shaft is located on the side of the second plane away from the first plane, so that the surface of the chessboard away from the board surface is not flat, affecting the placement of the chessboard. The size of each leg is greater than or equal to the radius of the rotation shaft, which can ensure the stable placement of the chessboard.

[0016] In an embodiment, the plurality of legs of one shell and the plurality of legs of the other shell are staggered along the direction of the plane in which the second plane lies when the chessboard is folded.

[0017] In the embodiment, the legs of the two shells are staggered so that the two second planes can be attached when the chessboard is folded, thereby ensuring the folding effect of the chessboard.

[0018] In an embodiment, each shell comprises a plurality of locking openings, the plurality of locking openings being located at the second plane, the positions of the plurality of locking openings of one shell corresponding to the positions of the plurality of legs of the other shell one by one when the chessboard is folded, the locking openings of one shell being used to accommodate and lock the legs of the other shell.

[0019] In the embodiment, the positions of the locking openings correspond to the positions of the legs, the locking openings can accommodate the legs so that the two second planes can be attached when the chessboard is folded, thereby ensuring the folding effect of the chessboard; at the same time, the locking openings can lock the legs so that the two shells can be locked to each other when the chessboard is folded.

[0020] In an embodiment, each shell comprises a through hole, one end of each through hole being located at the second plane and the other end being located at the side wall of the shell away from the rotation axis, the two through holes being communicated to form a handle when the chessboard is folded.

[0021] In the embodiment, when the chessboard is folded, the two second planes are attached so that the two through holes are communicated to form a handle, and the two through holes are close to each other at one end of the side wall of the shell, thereby facilitating the use of the handle.

[0022] In an embodiment, the mechanical arm comprises a base, a driving mechanism and a picking mechanism, the driving mechanism being drivingly connected between the base and the picking mechanism, wherein: when the chessboard is unfolded, the base is used to be connected with the two shells respectively, and the picking mechanism is used to pick up or place the chess pieces, the size of the base being greater than the size of the driving mechanism along the direction in which the two shells are arranged; when the chessboard is folded, the mechanical arm is folded and accommodated in the accommodating cavity.

[0023] In the embodiment, when the chessboard is unfolded, the base of the mechanical arm is connected with the chessboard, the mechanical arm moves the chess pieces by the cooperation of the driving mechanism and the picking mechanism, and when the chessboard is folded, the mechanical arm is folded and accommodated in the accommodating cavity, thereby reducing the occupied space of the mechanical arm and improving the space utilization in the accommodating cavity.

[0024] In an embodiment, the driving mechanism is used to drive the picking mechanism and the base to approach each other to fold the mechanical arm.

[0025] In the embodiment, the picking mechanism and the base are close to each other to fold the mechanical arm, so that the occupied space of the mechanical arm can be reduced, and the distance between the picking mechanism and the base is short, the size of the base along the direction in which the two housings are arranged is greater than the size of the driving mechanism, so that the base and the picking mechanism can be accommodated in the same area of the recess.

[0026] In an embodiment, when the chessboard is unfolded, the base is connected with the chessboard, the bottom surface of the base is located on the side of the second plane away from the first plane, and the distance between the bottom surface of the base and the second plane along the thickness direction of the housing is greater than or equal to the radius of the rotating shaft.

[0027] In the embodiment, the size of the bottom surface is greater than or equal to the radius of the rotating shaft, so that the influence of the unevenness of the second plane on the placement of the chessboard can be avoided, and the chessboard can be placed stably through the bottom surface of the base.

[0028] In an embodiment, the second plane is provided with a supporting leg, and the bottom surface of the base is flush with the end surface of the supporting leg away from the second plane.

[0029] In the embodiment, the bottom surface of the base is flush with the end surface of the supporting leg away from the second plane, so that the base can cooperate with the supporting leg to support the chessboard, and the stability of the chessboard is further improved.

[0030] In an embodiment, the picking mechanism comprises a first hinge hole and a second hinge hole, the axes of the first hinge hole and the second hinge hole are parallel to each other and are arranged in the thickness direction of the housing when the mechanical arm is connected with the chessboard, and the driving mechanism is used to drivingly connect the base and the first hinge hole, wherein: the mechanical arm comprises a connecting rod mechanism, one end of the connecting rod mechanism is used to drivingly connect the base through the driving mechanism, and the other end of the connecting rod mechanism is used to drivingly connect the second hinge hole, the connecting rod mechanism is used to move with the driving mechanism and drive the picking mechanism to rotate around the first hinge hole, so as to keep the posture of the picking mechanism always perpendicular to the chessboard.

[0031] In the embodiment, the mechanical arm further comprises a connecting rod mechanism, the connecting rod mechanism is drivingly connected between the second hinge hole of the picking mechanism and the driving mechanism, the connecting rod mechanism can move with the driving mechanism to limit the rotation of the picking mechanism around the first hinge hole, thereby ensuring that the posture of the picking mechanism is always perpendicular to the chessboard, avoiding changing the posture of the chess piece during the movement of the driving mechanism driving the picking mechanism, and causing the chess piece to be unable to be placed stably on the chessboard.

[0032] In an embodiment, the driving mechanism comprises a rotating table, a first movable arm and a second movable arm, the rotating table is rotationally connected with the base, the rotating axis of the rotating table is perpendicular to the chessboard, the two ends of the first movable arm are rotationally connected with the rotating table and the second movable arm respectively, and the end of the second movable arm away from the first movable arm is used to rotationally connect with the first hinge hole, the rotating axes of the two ends of the first movable arm are parallel to the axis of the first hinge hole.

[0033] In the embodiment, the turntable, the first movable arm and the second movable arm in the driving mechanism can move respectively to drive the pickup mechanism to translate relative to the chessboard, thereby realizing the function of moving the chess pieces by the mechanical arm.

[0034] In an embodiment, the driving mechanism comprises three motors fixed to the turntable, which are respectively used to drive the turntable to rotate relative to the base, the first movable arm to rotate relative to the turntable and the second movable arm to rotate relative to the first movable arm.

[0035] In the embodiment, the three motors of the driving mechanism are respectively used to drive the turntable, the first movable arm and the second movable arm to move, thereby realizing the function of moving the chess pieces by the mechanical arm; meanwhile, the motors are all fixed to the turntable, which can reduce the mass of the first movable arm and the second movable arm, thereby reducing the output power of the three motors and the power consumption of the mechanical arm.

[0036] In an embodiment, the driving mechanism comprises a first transmission member and a second transmission member, the first transmission member comprises a first worm and a first worm wheel, the first worm wheel is fixedly connected to the end of the first movable arm facing the turntable, and the first worm is transmissionally connected between one motor and the first worm wheel; and / or the second transmission member comprises a second worm, a second worm wheel and a transmission rod, the second worm wheel is rotationally connected to the end of the first movable arm facing the turntable, the second worm is transmissionally connected between another motor and the second worm wheel, the transmission rod is rotationally connected to the second worm wheel and the second movable arm at two ends respectively, and the rotation axes of the two ends of the transmission rod are both parallel to the axis of the first hinge hole.

[0037] In the embodiment, the first transmission member is used to transmissionally connect one motor and the first movable arm, and the second transmission member is used to transmissionally connect another motor and the second movable arm, thereby realizing the function of moving the chess pieces by the mechanical arm. The self-locking driving mode of the worm and worm wheel adopted by the first transmission member and the second transmission member can make the mechanical arm not consume power in the case of no work, reduce the power consumption of the whole machine, make the machine operate under the power supply state of the built-in small-capacity lithium battery without the need of external power adapter, and improve the portability of the machine.

[0038] In an embodiment, the linkage mechanism comprises a first linkage rod, a second linkage rod and a connecting piece, the connecting piece comprises a first through hole rotationally connected to the rotation shaft between the first movable arm and the second movable arm, the two ends of the first linkage rod are rotationally connected to the turntable and the connecting piece respectively, the two ends of the second linkage rod are rotationally connected to the connecting piece and the second hinge hole respectively, and the rotation axes of the two ends of the first linkage rod and the two ends of the second linkage rod are both parallel to the axis of the first hinge hole.

[0039] In the embodiment, the first connecting rod, the second connecting rod and the connecting piece cooperate with each other, the first connecting rod is used for limiting the rotation angle of the connecting piece around the first through hole, the second connecting rod cooperates with the connecting piece to limit the rotation angle of the picking mechanism around the first hinge hole, and when the mechanical arm is connected with the chessboard, the posture of the picking mechanism is always perpendicular to the chessboard.

[0040] In an embodiment, the connecting piece comprises a second through hole and a third through hole, any two of the first through hole, the second through hole and the third through hole are spaced apart from each other, the axes of the second through hole and the third through hole are parallel to the axis of the first through hole, the end of the first connecting rod away from the turntable is rotationally connected with the second through hole, and the end of the second connecting rod away from the second hinge hole is rotationally connected with the third through hole.

[0041] In the embodiment, the first connecting rod and the second connecting rod are rotationally connected with the second through hole and the third through hole of the connecting piece respectively, so as to limit the rotation angle of the picking mechanism around the first hinge hole and keep the posture of the picking mechanism always perpendicular to the chessboard.

[0042] In an embodiment, the distance between the axis of the first hinge hole and the axis of the second hinge hole is equal to the distance between the axis of the first through hole and the axis of the third through hole; and / or the distance between the axis of the first hinge hole and the axis of the first through hole is equal to the distance between the axis of the second hinge hole and the axis of the third through hole.

[0043] In the embodiment, the axes of the first hinge hole, the second hinge hole, the first through hole and the third through hole form a quadrilateral, the second connecting rod will rotate synchronously with the second movable arm, the posture of the connecting piece relative to the turntable is always unchanged, so that the posture of the picking mechanism relative to the turntable is always unchanged, thereby realizing that the posture of the picking mechanism is always perpendicular to the chessboard.

[0044] In an embodiment, the shell of the first movable arm and the shell of the second movable arm are respectively formed with a first receiving cavity and a second receiving cavity, the first connecting rod is at least partially located in the first receiving cavity, and the second connecting rod is at least partially located in the second receiving cavity.

[0045] In the embodiment, the first connecting rod is located in the first receiving cavity formed by the shell of the first movable arm, and the second connecting rod is located in the second receiving cavity formed by the shell of the second movable arm, so that the first connecting rod and the second connecting rod are respectively located in the first receiving cavity and the second receiving cavity, thereby avoiding the influence of external substances on the normal work of the connecting rod mechanism and making the mechanical arm more beautiful as a whole.

[0046] In an embodiment, the picking mechanism comprises a magnetic piece and a separation piece, the magnetic piece is located on the side of the separation piece away from the chessboard and is in sliding connection with the separation piece, and the magnetic piece is used for sliding towards or away from the separation piece to pick up or place the chess pieces on the chessboard.

[0047] In the embodiment, the magnetic member slides towards the isolation member, the distance between the magnetic member and the chess piece decreases, so that the magnetic force of the magnetic member on the chess piece is greater than or equal to the gravity of the chess piece, to realize that the picking mechanism picks up the chess piece; the magnetic member slides towards the direction away from the isolation member, the distance between the magnetic member and the chess piece increases, so that the magnetic force of the magnetic member on the chess piece is less than the gravity of the chess piece, to realize that the picking mechanism puts down the chess piece.

[0048] In an embodiment, the isolation member comprises a protruding part extending towards the chessboard, and the isolation member is provided with a containing groove on the side facing the magnetic member, the containing groove being used for containing at least part of the magnetic member when the picking mechanism picks up the chess piece.

[0049] In the embodiment, the picking mechanism can pick up the chess piece by contacting the chess piece through the protruding part, and the containing groove can reduce the distance between the magnetic member and the chess piece, to ensure the magnetic force of the magnetic member on the chess piece, so that the picking mechanism can stably drive the chess piece to move; meanwhile, the connecting rod mechanism is used for limiting the posture of the picking mechanism, so that the protruding part of the isolation member is always perpendicular to the chessboard, to facilitate the picking mechanism to pick up or put down the chess piece. BRIEF DESCRIPTION OF DRAWINGS

[0050] In order to more clearly illustrate the technical solutions of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings described in the following only are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0051] Fig. 1 is a structural schematic diagram of a chessboard and a mechanical arm connected chess robot provided in an embodiment of the present application;

[0052] Fig. 2 is a structural schematic diagram of a chess robot with a mechanical arm in a groove from a certain perspective provided in an embodiment of the present application;

[0053] Fig. 3 is a structural schematic diagram of a chess robot with a mechanical arm in a groove from another perspective provided in an embodiment of the present application;

[0054] Fig. 4 is a structural schematic diagram of a chessboard provided with a chessboard pattern from a certain perspective provided in an embodiment of the present application;

[0055] Fig. 5 is a structural schematic diagram of a chessboard provided with a chessboard pattern from another perspective provided in an embodiment of the present application;

[0056] Fig. 6 is a structural schematic diagram of a chessboard from a first perspective provided in an embodiment of the present application;

[0057] Fig. 7 is a structural schematic diagram of a chessboard from a second perspective provided in an embodiment of the present application;

[0058] Fig. 8 is a schematic diagram of a chessboard structure from a third perspective according to an embodiment of the present application;

[0059] Fig. 9 is a schematic diagram of a chessboard structure according to another embodiment of the present application;

[0060] Fig. 10 is a schematic diagram of a part of a chess robot structure according to an embodiment of the present application;

[0061] Fig. 11 is a schematic diagram of a part of a chess robot structure from a first perspective according to another embodiment of the present application;

[0062] Fig. 12 is a schematic diagram of a part of a chess robot structure from a second perspective according to another embodiment of the present application;

[0063] Fig. 13 is a schematic diagram of a linkage mechanism according to another embodiment of the present application;

[0064] Fig. 14 is a schematic diagram of a connecting member according to another embodiment of the present application;

[0065] Fig. 15 is a schematic diagram of another linkage mechanism according to another embodiment of the present application;

[0066] Fig. 16 is a schematic diagram of a part of a chess robot structure from a third perspective according to another embodiment of the present application;

[0067] Fig. 17 is a schematic diagram of a first transmission member and a first motor according to another embodiment of the present application;

[0068] Fig. 18 is a schematic diagram of a part of a chess robot structure from a fourth perspective according to another embodiment of the present application;

[0069] Fig. 19 is a schematic diagram of a part of a mechanical arm according to another embodiment of the present application;

[0070] Fig. 20 is a schematic diagram of a base according to another embodiment of the present application;

[0071] Fig. 21 is a schematic diagram of a pickup mechanism, a display screen and a camera according to an embodiment of the present application;

[0072] Fig. 22 is a schematic diagram of a part of a pickup mechanism in a placing state according to an embodiment of the present application;

[0073] Fig. 23 is a schematic diagram of a part of a pickup mechanism in a picking state according to an embodiment of the present application. DETAILED DESCRIPTION

[0074] For the purpose of clarity, the present application will be described in greater detail below with reference to the accompanying drawings. The preferred embodiments of the present application are shown in the drawings. However, the present application can be realized in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and fully convey the scope of the application to those skilled in the art.

[0075] The following description of several embodiments with reference to the additional drawings is used to illustrate specific embodiments in which the present application can be implemented. The serial numbers of the components in this paper, such as "first", "second", etc., are only used to distinguish the described objects, and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application include direct and indirect connections (couplings) unless otherwise specified. The direction terms mentioned in this application, such as "up", "down", "front", "back", "left", "right", "inside", "outside", "side" and the like, are only the direction of the attached drawings. Therefore, the direction terms used are to better and more clearly illustrate and understand the present application, and are not intended to indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0076] Chess is a recreational and educational game. A common chess game requires two or more people to play. A chess robot can serve as an opponent and play with a user. The chess robot includes a chessboard, a camera, and a mechanical arm. The camera captures the pieces on the chessboard in the current round. The processor inside the chess robot, the external processor, or the cloud processor performs visual processing to obtain the position information of each piece in the current round. Based on the position information of the current round, the next round of chess strategy is calculated. The mechanical arm receives the chess strategy and moves the pieces on the chessboard. After the user moves the chess, the above steps are repeated to realize the game between the chess robot and the user.

[0077] Please refer to Figure 1 for the structure schematic diagram of the chess robot 100 provided by the chessboard 20 and the mechanical arm 10 in an embodiment of the present application.

[0078] The present application provides a chess robot 100, which includes a chessboard 20 and a mechanical arm 10. The chessboard 20 includes two rotationally connected housings 21. Each housing 21 includes a first plane 201 and a second plane 202 opposite to each other along the thickness direction. Each second plane 202 is provided with a groove 203. The two housings 21 are rotationally connected. When the two housings 21 are rotated away from each other and unfolded, the two first planes 201 are aligned and spliced to form the playing surface of the chessboard 20.

[0079] Specifically, in one embodiment, as shown in FIG. 1, two housings 21 are arranged along a direction perpendicular to the thickness of the housings 21, and the first planes 201 of the two housings 21 are aligned and spliced to form a playing surface of the chessboard 20, the playing surface being used to carry chess pieces, the robotic arm 10 comprising a base 11, a driving mechanism 12, and a picking mechanism 13, the base 11 being detachably connected to the side walls of the two housings 21 respectively, the picking mechanism 13 being used to pick up or place chess pieces on the chessboard, and the driving mechanism 12 being drivingly connected between the base 11 and the picking mechanism 13, the driving mechanism 12 being used to drive the picking mechanism 13 to move relative to the chessboard 20, and the driving mechanism 12 and the picking mechanism 13 cooperating to move the chess pieces on the playing surface.

[0080] It should be noted that in the chess-playing robot 100 provided in FIG. 1, the picking mechanism 13 is integrated with a camera 50 (not shown in FIG. 1), and the camera 50 can be synchronously driven to move relative to the chessboard 20 when the driving mechanism 12 drives the picking mechanism 13 to move, so that the camera 50 can capture chess pieces on the chessboard from multiple angles, and more accurate position information of the chess pieces can be obtained based on multiple captured pictures.

[0081] In addition, in the chess-playing robot 100 provided in FIG. 1, the picking mechanism 13 is also integrated with a display screen 30, the display screen 30 being capable of displaying basic information of the camera 50, the processor, or the robotic arm 10, such as on-off state and current running state, etc., or recording the current status of the chess game, such as the number of rounds, the number of chess pieces of both sides, and the winning rate of both sides, etc., or displaying the rules of the current chess game to help beginners, or displaying expressions and playing sounds in combination with a loudspeaker, such as voice prompts for the user to move chess pieces in the next round, voice broadcast of game victory and defeat, etc., so that the chess-playing robot 100 is more lively.

[0082] Please refer to FIG. 2 and FIG. 3, wherein FIG. 2 shows a structure schematic diagram of the chess-playing robot 100 with the robotic arm 10 in a groove 203 from one perspective; and FIG. 3 shows a structure schematic diagram of the chess-playing robot 100 with the robotic arm 10 in the groove 203 from another perspective.

[0083] When the two housings 21 of the chess-playing robot 100 are rotated towards each other and fold the chessboard 20, the two grooves 203 are communicated and form a containing cavity.

[0084] Specifically, in one embodiment, as shown in FIG. 2 and FIG. 3, the second plane 202 of the housing 21 is provided with a groove 203, the connection between the robotic arm 10 and the chessboard 20 is disconnected and placed in the groove 203 of one housing 21, and the two housings 21 are rotated towards each other around the rotation shaft 22 and fold the chessboard, at this time, the two second planes 202 are attached, and the two grooves 203 are aligned and communicated with each other to accommodate the robotic arm 10.

[0085] In the chess robot 100 provided in FIG. 2 and FIG. 3, the size of the base 11 in the direction of the thickness of the shell 21 is greater than the size of the driving mechanism 12, the groove 203 includes a first area 2031 and a second area 2032, the depth of the first area 2031 is greater than the second area 2032, the driving mechanism 12 drives the pickup mechanism 13 to be close to the base 11 so that the base 11 is accommodated in the deeper first area 2031, and the pickup mechanism 13 is accommodated in the second area 2032.

[0086] The mechanical arm of the chess robot 100 includes a base 11, a driving mechanism 12 and a pickup mechanism 13, the base 11 is detachably connected with the chessboard 20, the pickup mechanism 13 is used to pick up or place the chess pieces on the chessboard 20, the driving mechanism 12 is drivingly connected between the pickup mechanism 13 and the base 11, and the driving mechanism 12 is used to drive the pickup mechanism 13 to move relative to the chessboard 20; the driving mechanism 12 is also used to drive the pickup mechanism 13 and the base 11 to be close to each other to fold the mechanical arm 10, and the accommodating cavity is used to accommodate the folded mechanical arm 10.

[0087] The chess robot 100 includes two rotationally connected shells 21, and the two shells 21 are rotated away from each other to align the two first planes 201 and splice to form the playing surface of the chessboard 20 to realize unfolding of the chessboard 20, the playing surface can carry the chess pieces, the unfolded chessboard 20 is detachably connected with the mechanical arm 10, and the mechanical arm 10 can move relative to the chessboard 20 to move the chess pieces on the playing surface.

[0088] In the existing chess robot, the mechanical arm is fixed on the chessboard, the overall size of the mechanical arm and the chessboard is large, and it is difficult to accommodate, which makes the chess robot still occupy a large space when idle, and is not conducive to the storage and transportation of the chess robot.

[0089] When the two shells 21 of the chess robot 100 are rotated towards each other and the chessboard 20 is folded, the two second planes 202 are attached, the overall size of the folded chessboard 20 becomes half of the unfolded chessboard 20, and the occupied space of the chessboard 20 is reduced; at the same time, when the chessboard 20 is folded, the two grooves 203 are connected and form the accommodating cavity, after the connection between the mechanical arm 10 and the chessboard 20 is disconnected, the pickup mechanism 13 and the base 11 can be driven to be close to each other to fold the mechanical arm 10, the folded mechanical arm 10 is stored in the accommodating cavity, the occupied space of the chess robot 100 is further reduced, the space utilization of the chess robot 100 is improved, and the storage and transportation of the chess robot 100 are facilitated.

[0090] It should be pointed out that the chess robot 100 of the present application can be applied to various chess games, including but not limited to Chinese chess, Gomoku, Go and checkers.

[0091] Please refer to FIG. 4 and FIG. 5, wherein FIG. 4 illustrates a structural schematic diagram of a chessboard 20 provided with a chessboard pattern from a first perspective according to an embodiment of the present application; and FIG. 5 illustrates a structural schematic diagram of a chessboard 20 provided with a chessboard pattern from a second perspective according to an embodiment of the present application.

[0092] In the chessboard 20 provided in FIG. 4 and FIG. 5, each first plane 201 is provided with a replaceable pattern, and two first planes 201 are aligned and spliced to form a chessboard for a chess game. By replacing the pattern on the first plane 201, the chess robot 100 can be adapted to multiple chess games.

[0093] Please refer to FIG. 6 illustrating a structural schematic diagram of a chessboard 20 from a first perspective according to an embodiment of the present application.

[0094] In the chessboard 20 provided in FIG. 6, the groove 203 further comprises a third region 2033, the depth of the third region 2033 is greater than the depth of the second region 2032, and the third region 2033 can be used to accommodate the chess piece box 40. Please refer to FIG. 3, the third region 2033 can also be used to accommodate part of the driving mechanism 12, and the driving mechanism 12 along the thickness direction of the shell 21 shields at least part of the chess piece box 40. After folding the chessboard 20, the driving mechanism 12 can limit the movement of the chess piece box 40 in the third region 2033 along the thickness direction of the shell 21, avoiding the relative movement between the chess piece box 40 and the folded chessboard 20.

[0095] It can be understood that in the chessboard 20 provided in FIG. 6, the groove 203 of each shell 21 comprises a third region 2033, and two chess piece boxes 40 are stored in the third region 2033 of one of the shells 21, and the two chess piece boxes 40 can be used to store chess pieces of different chess games. Similarly, the third region 2033 of the other shell 21 can also store a chess piece box 40.

[0096] In other embodiments, more number of chess piece boxes 40 can be stored in the third region 2033, so that the chess robot can be adapted to more types of chess games.

[0097] It should be noted that the mechanical arm 10 of the chess robot 100 is fixed with a camera, and the mechanical arm 10 can work in cooperation with the camera 50. The camera 50 takes pictures and transmits them to the processor, the processor performs visual analysis to obtain the position information of the chess pieces on the current round board, and calculates the chess playing strategy for the next round based on the position information of the current round. The mechanical arm 10 receives the chess playing strategy and moves the chess pieces on the board to realize the game with the user.

[0098] In addition, the chess robot 100 is applicable to various chess games, and the processor is also capable of identifying the type of chess pieces on the board or the type of chessboard and switching the rules of the chess game based on the type of chess pieces or the type of chessboard to calculate the chess strategy for the next round.

[0099] In an embodiment, the mechanical arm 10 comprises a base 11, a driving mechanism 12 and a picking mechanism 13, the driving mechanism 12 is drivingly connected between the base 11 and the picking mechanism 13, wherein: when unfolding the chessboard 20, the base 11 is used to be connected with the two housings 21 respectively, and the picking mechanism 13 is used to pick up or place the chess pieces, and the size of the base 11 is greater than the size of the driving mechanism 12 along the direction in which the two housings 21 are arranged; when folding the chessboard 20, the mechanical arm 10 is folded and accommodated in the accommodating cavity.

[0100] In an embodiment, the driving mechanism 12 is used to drive the picking mechanism 13 and the base 11 to move close to each other to fold the mechanical arm 10.

[0101] In the chess robot 100 provided in FIG. 2, the two ends of the driving mechanism 12 are drivingly connected with the picking mechanism 13 and the base 11 respectively, and the driving mechanism 12 drives the picking mechanism 13 to move towards the base 11 to make the picking mechanism 13 and the base 11 close to each other, thereby folding the mechanical arm 10. The overall size of the folded mechanical arm 10 is smaller, which can reduce the occupied space of the mechanical arm 10 and facilitate the accommodation of the mechanical arm 10 in the accommodating cavity.

[0102] In an embodiment, each groove 203 comprises a first area 2031 and a second area 2032 respectively, the first area 2031 and the second area 2032 are arranged along the direction of the plane in which the second plane 202 is located, the depth of the first area 2031 is greater than the depth of the second area 2032, and when folding the chessboard 20, the two first areas 2031 are aligned along the direction of the plane in which the second plane 202 is located.

[0103] In the chess robot 100 provided in FIG. 2, the base 11 and the picking mechanism 13 are close to each other to fold the mechanical arm 10. When folding the chessboard 20, the two second areas 2032 are aligned to accommodate the driving mechanism 12 and the picking mechanism 13 which have smaller sizes, and the two first areas 2031 are aligned to form a larger accommodating space for accommodating the base 11.

[0104] In another embodiment, the base 11 and the picking mechanism 13 are close to each other and are simultaneously accommodated in the deeper first area 2031, which can also achieve the function of accommodating the mechanical arm 10 in the groove 203.

[0105] In an embodiment, the at least one groove 203 comprises a third region 2033, the third region 2033 is spaced apart from the first region 2031 along a direction in which the second plane 202 lies, the second region 2032 is communicated between the first region 2031 and the third region 2033, and the third region 2033 has a depth greater than that of the second region 2032.

[0106] In the chessboard 20 provided in FIG. 6, the groove of each shell 21 comprises a third region 2033, and two third regions 2033 are used to accommodate the chess piece boxes 40, each of which is used to accommodate the chess pieces of at least one chess game, so that the chess pieces are accommodated in the groove 203, the space utilization of the folded chessboard 20 is improved, and the chess pieces can be taken out from the chess piece boxes 40 when the chessboard 20 is unfolded, which facilitates the user to play the chess game and improves the user experience.

[0107] In other embodiments, only one groove 203 comprises a third region 2033, which can also be used to accommodate the chess pieces and 40 and improve the space utilization of the folded chessboard 20.

[0108] It should be noted that in the chess robot 100 provided in FIG. 3, the third region 2033 can also be used to accommodate part of the driving mechanism 12, and the driving mechanism 12 at least partially shields the chess piece boxes 40 along the thickness direction of the shell 21. After the chessboard 20 is folded, the driving mechanism 12 can limit the movement of the chess piece boxes 40 in the third region 2033 along the thickness direction of the shell 21, thereby avoiding the relative movement between the chess piece boxes 40 and the folded chessboard 20.

[0109] In another embodiment, the mechanical arm 10 does not perform the folding operation, the base 11 is located in the first region 2031, the picking mechanism 13 and the chess piece boxes 40 are located in the third region, and the picking mechanism 13 at least partially shields the chess piece boxes 40 along the thickness direction of the shell 21, which can also avoid the relative movement between the chess piece boxes 40 and the folded chessboard 20.

[0110] Please refer to FIG. 7 and FIG. 8, wherein FIG. 7 schematically shows the structure of the chessboard 20 from a second perspective according to an embodiment of the present application; and FIG. 8 schematically shows the structure of the chessboard 20 from a third perspective according to an embodiment of the present application.

[0111] In an embodiment, the rotation connection between the two shells 21 forms a rotation shaft 22, and the axis of the rotation shaft 22 lies in the plane in which the two second planes 202 lie. In the chessboard 20 provided in FIG. 8, the chessboard 20 is in an unfolded state, the two second planes 202 are aligned and spliced, and the axis of the rotation shaft 22 lies in the plane in which the two second planes 202 lie, so that when the two shells 21 rotate towards each other around the rotation shaft 22 and fold the chessboard 20, the two second planes 202 are parallel and abut each other, thereby ensuring that the folded chessboard 20 has a smaller size.

[0112] In an embodiment, each shell 21 comprises a plurality of mutually spaced-apart legs 204 fixed to the second plane 202 and mutually spaced-apart from the recess 203, each leg 204 being greater than or equal to the size of the rotation shaft 22 in the thickness direction of the shell.

[0113] It can be understood that the axis of the rotation shaft 22 is located in the plane of the two second planes 202, and when the chessboard 20 is unfolded, part of the rotation shaft 22 is located on the side of the second plane 202 away from the first plane 201, causing the bottom surface of the side of the chessboard 20 away from the board surface to be uneven, making it difficult to place the chessboard 20 stably, therefore, in the chess-playing robot 100 provided in FIG. 3, the second plane 202 of the shell 21 is provided with a plurality of legs 204, each leg 204 being greater than or equal to the radius of the rotation shaft 22, and the plurality of legs 204 are used to support the chessboard 20 when the chessboard 20 is unfolded, so that the chessboard 20 can be placed stably.

[0114] In an embodiment, when the chessboard 20 is folded, the plurality of legs 204 of one shell 21 and the plurality of legs 204 of the other shell 21 are staggered in the direction of the plane of the second plane 202. In the chess-playing robot 100 provided in FIG. 3, the legs 204 of the two shells 21 are staggered, so that the two second planes 202 can be fitted when the chessboard 20 is folded, thereby ensuring the folding effect of the chessboard 20.

[0115] In an embodiment, each shell 21 comprises a plurality of locking openings 205 located on the second plane 202, and when the chessboard 20 is folded, the positions of the plurality of locking openings 205 of one shell 21 correspond one-to-one to the positions of the plurality of legs 204 of the other shell 21, and the locking openings 205 of one shell 21 are used to accommodate and lock the legs 204 of the other shell 21.

[0116] In the chess-playing robot 100 provided in FIG. 3, the chessboard 20 is in an unfolded state, and the position of each locking opening 205 corresponds one-to-one to the position of one leg 204, and when the two shells 21 are folded towards each other and the chessboard 20 is folded, each leg 204 extends into one locking opening 205, so that the two second planes 202 can be fitted when the chessboard 20 is folded, thereby ensuring the folding effect of the chessboard 20.

[0117] In another embodiment, a locking member is arranged in the locking opening 205, and the locking member is used to limit the movement of the leg 204 relative to the locking opening 205 after the leg 204 extends into the locking opening 205, so as to lock the relative positions of the two shells 21, so that the chessboard 20 can be kept in a folded state.

[0118] Please refer to FIG. 9 for a schematic diagram of part of the structure of the chessboard 20 provided in another embodiment of the present application.

[0119] In the chessboard 20 provided in FIG. 9, the side wall of the chessboard 20 away from the rotation axis 22 is provided with a plurality of protrusions 208 spaced apart from each other, and the surface of each protrusion 208 away from the first plane 201 is used to form part of the second plane 202. Please refer to FIG. 3, the protrusion 208 of one shell 21 corresponds to the position of the protrusion 208 of another shell 21, and the surface of each protrusion 208 away from the first plane 201 is provided with at least one foot 204 and at least one lock 205. When folding the chessboard 20, the protrusion 208 of one shell 21 is attached to the protrusion 208 of another shell 21, the foot 204 of the protrusion 208 of one shell 21 is inserted into the lock 205 of the protrusion 208 of another shell 21, and the two second planes 202 can be attached when the chessboard 20 is folded, thereby ensuring the folding effect of the chessboard 20.

[0120] In addition, in the chessboard 20 provided in FIG. 9, the protrusion 208 of one of the two shells 21 is provided with a lock ring 209, which is rotationally connected to the protrusion 208 toward the first plane, and is used to be sleeved on the periphery of the two protrusions 208 when the two protrusions 208 are attached to each other, so as to limit the relative displacement of the two protrusions 208 and ensure that the two protrusions 208 are in the attached state, and also lock the relative position of the two shells 21, so that the chessboard 20 remains in the folded state.

[0121] In another embodiment, the lock rings 209 can be staggered on the protrusions 208 of the two shells 21, which can also limit the relative displacement of the two protrusions 208 and ensure that the two protrusions 208 are in the attached state.

[0122] In an embodiment, each shell 21 includes a through hole 206, one end of each through hole 206 is located at the second plane 202, and the other end is located at the side wall of the shell 21 away from the rotation axis. When folding the chessboard 20, the two through holes 206 are connected to form a handle. In the chess robot 100 provided in FIG. 3, the two through holes 206 are aligned at one end of the second plane 202, so that the two through holes 206 are connected when the chessboard 20 is folded, and the connected two through holes 206 form a handle, so that the chess robot is convenient to carry and transport.

[0123] In an embodiment, the side wall of each shell 21 is provided with a mounting interface 207, and the two mounting interfaces 207 are located on the same side of the two shells 21 along the rotation axis of the two shells 21. When unfolding the chessboard 20, the distance between the two mounting interfaces 207 is less than or equal to the size of the mechanical arm 10 along the arrangement direction of the two shells 21. Please refer to FIG. 10 for a schematic diagram of part of the structure of the chess robot 100 provided in an embodiment of the present application.

[0124] In the chessboard 20 shown in FIG. 7 and FIG. 8, two installation interfaces 207 are arranged on the side walls of the two housings 21, and the two installation interfaces 207 are rectangular, the long sides of the installation interfaces 207 are parallel to the thickness direction of the housings 21, and the long sides of the two installation interfaces 207 are parallel to each other when the chessboard is unfolded. Please refer to FIG. 10, the base 11 of the robot arm 10 includes two interfaces 112 which are spaced apart from each other, the shape of the interfaces 112 matches the shape of the installation interfaces 207, the long sides of the two interfaces 112 are parallel to each other, and the distance between the two installation interfaces 207 is equal to the distance between the two interfaces 112, so that the installation interfaces 207 can match the interfaces 112 on the base 11 to realize the connection between the chessboard 20 and the robot arm 10.

[0125] It can be understood that the relative positions of the two installation interfaces 207 change with the relative rotation of the two housings 21, and in the chessboard 20 shown in FIG. 7 and FIG. 8, the long sides of the two installation interfaces 207 intersect when the chessboard 20 is not in the unfolded state, and the two installation interfaces 207 cannot be connected with the two interfaces 112, so the robot arm 10 can be connected with the chessboard 20 only when the chessboard 20 is unfolded.

[0126] Similarly, in an embodiment, two installation interfaces 207 can also be arranged on the other side of the chessboard 20, and the robot arm 10 has more connection positions with the chessboard 20 to be suitable for more application scenarios.

[0127] In another embodiment, the chessboard 20 and the robot arm 10 are respectively provided with one installation interface 207 and one interface 112, and the connection between the chessboard 20 and the robot arm 10 can be realized only through the connection of one installation interface 207 and one interface 112.

[0128] In other embodiments, the chessboard 20 and the robot arm 10 are respectively provided with a plurality of installation interfaces 207 and a plurality of interfaces 112, each installation interface 207 is used to align and connect with one interface 112 to realize the connection between the chessboard 20 and the robot arm 10. It can be understood that the number and position of the installation interfaces 207 and the interfaces 112 can be set arbitrarily according to the required connection strength and connection position. In an embodiment, the installation interfaces 207 and the interfaces 112 are connected by magnetic attraction, and the interfaces 112 of the robot arm 10 and the installation interfaces 207 of the chessboard 20 are provided with magnets near them, so that the installation of the robot arm 10 and the chessboard 20 is completed by magnetic attraction, and the operation is very simple. At the same time, special operation is not needed to disassemble. In another embodiment, the installation interfaces 207 and the interfaces 112 are connected by fasteners.

[0129] In the above embodiments, the connection between the mechanical arm 10 and the chessboard 20 is detachable, and the mechanical arm 10 can be connected to the unfolded chessboard 20 and stored in the accommodating cavity of the folded chessboard 20.

[0130] In an embodiment, after the mechanical arm 10 is connected to the chessboard 20, the communication between the mechanical arm 10 and the chessboard 20 can be realized through the installation interface 207 and the interface 112. In the chessboard 20 provided in FIG. 7, the installation interface is used for communication connection with the interface 112, and the surface of the chessboard 20 is provided with a button 23, which can control the movement or start / stop of the mechanical arm 10.

[0131] In another embodiment, the button 23 is also provided on the mechanical arm 10, which can also be used to control the movement and start / stop of the mechanical arm 10.

[0132] In other embodiments, the chessboard 20 is provided with a processor, and the communication between the mechanical arm 10 and the processor is realized through the communication connection between the interface 112 and the installation interface 207.

[0133] In other embodiments, the chessboard 20 is provided with a circuit, and the communication between the mechanical arm 10 and the circuit of the chessboard 20 is realized through the communication connection between the interface 112 and the installation interface 207.

[0134] In an embodiment, when the chessboard 20 is unfolded, the base 11 is connected to the chessboard 20, the bottom surface of the base 11 is located on the side of the second plane 202 away from the first plane 201, and the distance between the bottom surface of the base 11 and the second plane 202 in the thickness direction of the shell 21 is greater than or equal to the radius of the rotating shaft 22, so as to avoid the influence of the unevenness of the second plane on the placement of the chessboard, and enable the chessboard to be placed stably on the bottom surface of the base.

[0135] In an embodiment, the bottom surface of the base 11 is flush with the end surface of the leg 204 away from the second plane 202, so that the base 11 can cooperate with the leg 204 to support the chessboard 20, and further improve the stability of the chessboard 20.

[0136] Please refer to FIG. 11 for a partial structure diagram of the chess robot 100 from a first perspective according to another embodiment of the present application.

[0137] In an embodiment, as shown in FIG. 11, the picking mechanism 13 includes a first hinge hole 131 and a second hinge hole 132, the axes of the first hinge hole 131 and the second hinge hole 132 are parallel to each other and arranged in the thickness direction of the shell 21 when the mechanical arm 10 is connected to the chessboard 20, and the driving mechanism 12 is used for transmission connection between the base 11 and the first hinge hole 131.

[0138] In one embodiment, the driving mechanism 12 comprises a rotating table 123, a first movable arm 121 and a second movable arm 122, the rotating table 123 is rotatably connected to the base 11, the rotating axis of the rotating table 123 is perpendicular to the chessboard 20, the two ends of the first movable arm 121 are rotatably connected to the rotating table 123 and the second movable arm 122 respectively, the end of the second movable arm 122 away from the first movable arm 121 is used to be rotatably connected to the first hinge hole 131, the rotating axes of the two ends of the first movable arm 121 are both parallel to the axis of the first hinge hole 131.

[0139] Please refer to Fig. 12 and Fig. 13, wherein Fig. 12 schematically shows the partial structure of the chess-playing robot 100 from another embodiment of the present application, and Fig. 13 schematically shows the structure of a kind of connecting rod mechanism 14 from another embodiment of the present application.

[0140] In one embodiment, the mechanical arm 10 comprises a connecting rod mechanism 14, one end of the connecting rod mechanism 14 is used to be drivingly connected to the rotating table 123 through the driving mechanism 12, the other end is used to be drivingly connected to the second hinge hole 132, the connecting rod mechanism 14 is used to move with the driving mechanism 12 and drive the picking mechanism 13 to rotate around the first hinge hole 131, so as to keep the posture of the picking mechanism 13 always perpendicular to the chessboard 20.

[0141] In one embodiment, as shown in Fig. 12 and Fig. 13, the connecting rod mechanism 14 comprises a first connecting rod 141, a second connecting rod 142 and a connecting piece 143, the connecting piece 143 comprises a first through hole 1431, the first through hole 1431 is rotatably connected to the rotating shaft 1221 (not shown in Fig. 12 and Fig. 13) between the first movable arm 121 and the second movable arm 122, the two ends of the first connecting rod 141 are rotatably connected to the rotating table 123 and the connecting piece 143 respectively, the two ends of the second connecting rod 142 are rotatably connected to the connecting piece 143 and the second hinge hole 132 respectively, the rotating axes of the two ends of the first connecting rod 141 and the two ends of the second connecting rod 142 are both parallel to the axis of the first hinge hole 131.

[0142] In the chess-playing robot 100 provided in Fig. 12, in the process of the first movable arm 121 rotating relative to the rotating table 123, the first connecting rod 141 is used to limit the rotation of the connecting piece 143 around the first through hole 1431, the connecting piece 143 limits the rotation of the picking mechanism 13 around the first hinge hole 131 through the second connecting rod 142, so as to keep the posture of the picking mechanism 13 always perpendicular to the chessboard 20.

[0143] Please refer to Fig. 14 schematically showing the structure of the connecting piece 143 from another embodiment of the present application.

[0144] In an embodiment, the connecting member 143 comprises a second through hole 1432 and a third through hole 1433, any two of the first through hole 1431, the second through hole 1432 and the third through hole 1433 are spaced apart from each other, the axes of the second through hole 1432 and the third through hole 1433 are parallel to the axis of the first through hole 1431, the first connecting rod 141 is rotatably connected to the second through hole 1432 at an end away from the turntable 123, and the second connecting rod 142 is rotatably connected to the third through hole 1433 at an end away from the second hinge hole 132.

[0145] In the connecting member 143 provided in FIG. 14, the connecting member 143 comprises a second through hole 1432 and a third through hole 1433, the first connecting rod 141 and the second connecting rod 142 are rotatably connected to the connecting member 143 through the second through hole 1432 and the third through hole 1433 respectively, please refer to FIG. 12, the turntable 123 comprises a first connecting shaft 1231 and a second connecting shaft 1232, the axes of the first connecting shaft 1231 and the second connecting shaft 1232 are parallel to each other, the first movable arm 121 is rotatably connected to the first connecting shaft 1231, the first connecting rod 141 is rotatably connected to the second connecting shaft 1232, and the line between the axis of the first through hole 1431 and the axis of the second through hole 1432 is parallel to the line between the axis of the first connecting shaft 1231 and the axis of the second connecting shaft 1232, the first connecting rod 141 is used to limit the rotation angle of the connecting member 143 around the first through hole 1431.

[0146] Similarly, in the chess robot 100 provided in FIG. 12, the two ends of the second connecting rod 142 are rotatably connected to the third through hole 1433 and the second hinge hole 132 respectively, and the line between the axis of the first through hole 1431 and the axis of the third through hole 1433 is parallel to the line between the axis of the first hinge hole 131 and the axis of the second hinge hole 132. The second connecting rod 142 is used to limit the distance between the third through hole 1433 and the second hinge hole 132, and the second connecting rod 142 cooperates with the connecting member 143 to limit the rotation angle of the picking mechanism 13 around the first hinge hole 131, so that when the mechanical arm 10 is connected to the chessboard 20, the posture of the picking mechanism 13 is always perpendicular to the chessboard 20.

[0147] In an embodiment, the distance between the axis of the first through hole 1431 and the axis of the second through hole 1432 is equal to the distance between the axis of the first connecting shaft 1231 and the axis of the second connecting shaft 1232.

[0148] In another embodiment, the distance between the axis of the second through hole 1432 and the axis of the second connecting shaft 1232 is equal to the distance between the axis of the first through hole 1431 and the axis of the first connecting shaft 1231.

[0149] In the chess robot 100 provided in FIG. 12, the distance between the axis of the first through hole 1431 and the axis of the second through hole 1432 is equal to the distance between the axis of the first connecting shaft 1231 and the axis of the second connecting shaft 1232, and the distance between the axis of the second through hole 1432 and the axis of the second connecting shaft 1232 is equal to the distance between the axis of the first through hole 1431 and the axis of the first connecting shaft 1231, so that the axes of the first through hole 1431, the second through hole 1432, the first connecting shaft 1231 and the second connecting shaft 1232 form a parallelogram, the first connecting rod 141 will rotate synchronously with the first movable arm 121, the first movable arm 121 drives the connecting member 143 to translate, and the posture of the connecting member 143 relative to the turntable 123 is always unchanged.

[0150] In an embodiment, the distance between the axis of the first hinge hole 131 and the axis of the second hinge hole 132 is equal to the distance between the axis of the first through hole 1431 and the axis of the third through hole 1433.

[0151] In another embodiment, the distance between the axis of the first hinge hole 131 and the axis of the first through hole 1431 is equal to the distance between the axis of the second hinge hole 132 and the axis of the third through hole 1433.

[0152] In the chess robot provided in FIG. 12, the distance between the axis of the first hinge hole 131 and the axis of the second hinge hole 132 is equal to the distance between the axis of the first through hole 1431 and the axis of the third through hole 1433, and the distance between the axis of the first hinge hole 131 and the axis of the first through hole 1431 is equal to the distance between the axis of the second hinge hole 132 and the axis of the third through hole 1433, so that the axes of the first hinge hole 131, the second hinge hole 132, the first through hole 1431 and the third through hole 1433 form a parallelogram, the second connecting rod 142 will rotate synchronously with the second movable arm 122, and since the posture of the connecting member 143 relative to the turntable 123 is always unchanged, the posture of the picking mechanism 13 relative to the turntable 123 is always unchanged, thereby realizing that the posture of the picking mechanism 13 is always perpendicular to the chessboard 20.

[0153] Please refer to FIG. 15 for the structural schematic diagram of another connecting rod mechanism 14 provided in another embodiment of the present application.

[0154] In the linkage mechanism 14 provided in FIG. 15, the linkage mechanism 14 comprises two first links 141 and two connecting pieces 143, the two connecting pieces 143 are arranged on two sides of the second link 142 along the rotation axis of the second link 142, the two first links 141 are respectively rotationally connected with the second through holes 1432 of the two connecting pieces 143, and the third through holes 1433 of the two connecting pieces 143 are respectively connected with the end of the second link 142 away from the picking mechanism 13. It can be understood that the two connecting pieces 143 and the two first links 141 arranged on two sides of the second link 142 can balance the component force of the second link 142 along the rotation axis, thereby ensuring that the linkage mechanism 14 can work normally for a long time.

[0155] In an embodiment, the shell of the first movable arm 121 and the shell of the second movable arm 122 are respectively formed with a first receiving cavity and a second receiving cavity, the first link 141 is at least partially located in the first receiving cavity, and the second link 142 is at least partially located in the second receiving cavity. In the chess-playing robot 100 provided in FIG. 10, the first link 141 is located in the first receiving cavity formed by the shell of the first movable arm 121, and the second link 142 is located in the second receiving cavity formed by the shell of the second movable arm 122. The first link 141 and the second link 142 are respectively located in the first receiving cavity and the second receiving cavity, so as to avoid that external substances affect the normal work of the linkage mechanism 14, and make the whole mechanical arm 10 more beautiful.

[0156] Please refer to the partial structure diagram of the chess-playing robot 100 from a third perspective provided in another embodiment of the present application shown in FIG. 16.

[0157] In an embodiment, the driving mechanism 12 comprises three motors, the three motors are fixed to the rotating table 123, and the three motors are respectively used to drive the rotating table 123 to rotate relative to the base 11, the first movable arm 121 to rotate relative to the rotating table 123, and the second movable arm 122 to rotate relative to the first movable arm 121.

[0158] Please refer to the structure diagram of the first transmission member 161 and the first motor 151 provided in another embodiment of the present application shown in FIG. 17.

[0159] In an embodiment, the driving mechanism 12 comprises a first transmission member 161 and a second transmission member 162, the first transmission member 161 comprises a first worm gear 1611 and a first worm 1612, the first worm gear 1611 is fixedly connected with the end of the first movable arm 121 towards the rotating table 123, and the first worm 1612 is transmissionally connected between a motor and the first worm gear 1611.

[0160] In the chess robot 100 provided in FIG. 16, the driving mechanism 12 comprises a first motor 151 and a first transmission member 161, the first motor 151 is in transmission connection with the first movable arm 121 through the first transmission member 161, and the first motor 151 is used to drive the first movable arm 121 to rotate relative to the rotating table 123. Please refer to FIG. 12 and FIG. 17, the first transmission member 161 comprises a first worm wheel 1611 and a first worm 1612, the first worm wheel 1611 is in rotation connection with the first connecting shaft 1231 and is fixedly connected with the first movable arm 121, the first worm 1612 is in transmission connection between the first worm wheel 1611 and the first motor 151, and the first motor 151 drives the first worm wheel 1611 to rotate around the first connecting shaft 1231, so as to realize the rotation of the first movable arm 121 relative to the rotating table 123.

[0161] Please refer to FIG. 18 and FIG. 19, wherein, FIG. 18 schematically shows the partial structure of the chess robot 100 provided in the fourth visual angle according to another embodiment of the present application; and FIG. 19 schematically shows the partial structure of the mechanical arm 10 provided in another embodiment of the present application.

[0162] In an embodiment, the second transmission member 162 comprises a second worm wheel 1621, a second worm 1622 and a transmission rod 1623, the second worm wheel 1621 is in rotation connection with the first movable arm 121 at the end thereof facing the rotating table 123, the second worm 1622 is in transmission connection between another motor and the second worm wheel 1621, and the transmission rod 1623 is in rotation connection with the second worm wheel 1621 and the second movable arm 122 at two ends thereof respectively, and the rotation axes of the two ends of the transmission rod 1623 are both parallel to the axis of the first hinge hole 131.

[0163] In the chess robot 100 provided in FIG. 18, the driving mechanism 12 comprises a second motor 152 and a second transmission member 162, the second motor 152 is in transmission connection with the second movable arm 122 through the second transmission member 162, and the second motor 152 is used to drive the second movable arm 122 to rotate relative to the first movable arm 121. Please refer to FIG. 19, the second transmission member 162 comprises a second worm wheel 1621, a second worm 1622 and a transmission rod 1623, the second worm wheel 1621 is in rotation connection with the first connecting shaft 1231, the second worm 1622 is in transmission connection between the second worm wheel 1621 and the second motor 152, the second worm wheel 1621 comprises a first connecting hole, the axis of the first connecting hole is parallel to the axis of the first connecting shaft 1231 and spaced from each other, the second movable arm 122 comprises a second connecting hole 1222, the axis of the second connecting hole 1222 is spaced from the axis of the rotation shaft 1221 between the first movable arm 121 and the second movable arm 122, the two ends of the transmission rod 1623 are in rotation connection with the first connecting hole of the second worm wheel 1621 and the second connecting hole 1222 of the second movable arm 122 respectively, the second motor 152 drives the second worm wheel 1621 to rotate around the first connecting shaft 1231 through the second worm 1622, and the second worm 1622 drives the second movable arm 122 to rotate around the rotation shaft 1221 through the transmission rod 1623, so as to realize the rotation of the second movable arm 122 relative to the first movable arm 121.

[0164] It can be understood that the second movable arm 122 is driven by the second motor 152 fixed on the rotating table 123, so that the mass of the second movable arm 122 can be reduced, the output power of the second motor 152 can be reduced, and the power required for driving the mechanical arm 10 can be saved.

[0165] Please refer to FIG. 20 for the structural schematic view of the base 11 provided in another embodiment of the present application.

[0166] In the base 11 provided in FIG. 20, the base 11 is fixed with a gear 111, please refer to FIG. 18, the driving mechanism 12 further comprises a third motor 153, the third motor 153 is fixed on the rotating table 123, and the output shaft of the third motor 153 is in meshing connection with the gear 111, so as to realize the rotation of the rotating table 123 relative to the base 11.

[0167] In an embodiment, the first movable arm 121 is provided with a hollow area, the hollow area is used to accommodate at least part of the second movable arm and at least part of the transmission rod 1623 when the mechanical arm 10 is folded. In the chess robot 100 provided in FIG. 2, the second movable arm 122 is rotated towards the base 11, so that part of the second movable arm 122 and the transmission rod 1623 are located in the hollow area, further reducing the overall size of the folded mechanical arm 10.

[0168] Please refer to FIG. 21-23, wherein FIG. 21 schematically shows the structure of the pickup mechanism 13, the display screen 30 and the camera 50 provided in an embodiment of the present application; FIG. 22 schematically shows the partial structure of the pickup mechanism 13 in a placed state provided in an embodiment of the present application; and FIG. 23 schematically shows the partial structure of the pickup mechanism 13 in a picked state provided in an embodiment of the present application.

[0169] In an embodiment, the pickup mechanism 13 comprises a magnetic piece 133 and a spacer 134, the magnetic piece 133 is located on the side of the spacer 134 away from the chessboard 20 and is in sliding connection with the spacer 134, and the magnetic piece 133 is used to slide towards or away from the spacer 134 to pick up or place the chess pieces on the chessboard 20.

[0170] In an embodiment, the spacer 134 comprises a protruding part 1341 extending towards the chessboard 20, and the spacer 134 is provided with a receiving groove 1342 on the side towards the magnetic piece 133, and the receiving groove 1342 is used to accommodate at least part of the magnetic piece 133 when the pickup mechanism 13 picks up the chess pieces.

[0171] In the pickup mechanism 13 provided in FIG. 22 and FIG. 23, the pickup mechanism 13 comprises the magnetic piece 133, the spacer 134 and a driving motor 135, the magnetic piece 133 is in sliding connection with the housing of the pickup mechanism 13, the driving motor 135 is used to drive the magnetic piece 133 to slide relative to the housing of the pickup mechanism 13, and the spacer 134 is in fixed connection with the housing of the pickup mechanism 13 and is used to pick up or place the chess pieces through the protruding part 1341. Please refer to FIG. 23, the magnetic piece 133 slides towards the receiving groove 1342, the distance between the magnetic piece 133 and the chess pieces decreases, so that the magnetic force of the magnetic piece 133 on the chess pieces is greater than or equal to the gravity of the chess pieces, so as to realize the pickup mechanism 13 picking up the chess pieces; please refer to FIG. 22, the magnetic piece 133 slides away from the receiving groove 1342, the distance between the magnetic piece 133 and the chess pieces increases, so that the magnetic force of the magnetic piece 133 on the chess pieces is less than the gravity of the chess pieces, so as to realize the pickup mechanism 13 placing the chess pieces.

[0172] It can be understood that the linkage mechanism 14 is used to limit the posture of the pickup mechanism 13, so that the protruding part 1341 of the spacer 134 is always perpendicular to the chessboard 20, so as to facilitate the pickup mechanism 13 picking up or placing the chess pieces.

[0173] In the description of the specification, the description using terms such as "one embodiment", "some embodiments", "certain embodiments", "an example", "a specific example" or "some examples" etc. means that the particular feature, structure, material or characteristic following the term is included in at least one embodiment or example of the application. The illustrative expressions do not necessarily indicate the same embodiment or example. Also, the described particular feature, structure, material or characteristic can be combined in any one or more embodiments or examples in a suitable manner.

Claims

1. A chess playing robot, characterized in that, The chessboard comprises two housings rotatably connected, each of the housings comprises a first plane and a second plane opposite to each other along the thickness direction, each of the second planes is provided with a groove, when the two housings are rotated away from each other and unfolded, the two first planes are aligned and spliced to form the board surface of the chessboard, when the two housings are rotated towards each other and folded, the two grooves are communicated and form a containing cavity; The mechanical arm comprises a base, a driving mechanism and a pickup mechanism, the base is detachably connected with the chessboard, the pickup mechanism is used for picking up or placing chess pieces on the chessboard, the driving mechanism is drivingly connected between the pickup mechanism and the base, and the driving mechanism is used for driving the pickup mechanism to move relative to the chessboard; The driving mechanism is also used for driving the pickup mechanism and the base to move towards each other to fold the mechanical arm, and the containing cavity is used for containing the folded mechanical arm.

2. The chess playing robot as claimed in claim 1, wherein, Each of the grooves comprises a first area and a second area arranged along the plane direction of the second plane, the depth of the first area is greater than that of the second area, and when the chessboard is folded, the two first areas are aligned along the plane direction of the second plane.

3. The chess playing robot as claimed in claim 2, wherein, At least one of the grooves comprises a third area, the third area is spaced apart from the first area along the plane direction of the second plane, the second area is communicated between the first area and the third area, and the depth of the third area is greater than that of the second area.

4. The chess playing robot as claimed in claim 1, wherein, The side wall of each of the housings is provided with a mounting interface, the two mounting interfaces are located on the same side of the two housings along the rotation axis of the two housings, and the distance between the two mounting interfaces is less than or equal to the size of the mechanical arm arranged along the two housings when the chessboard is unfolded.

5. The chess playing robot as claimed in claim 1, wherein, The rotation connection of the two housings forms a rotation shaft, the axis of the rotation shaft is located in the plane where the two second planes are located, each of the housings comprises a plurality of spaced-apart supporting legs, the plurality of supporting legs are fixed to the second plane and spaced apart from the grooves, and the size of each of the supporting legs along the thickness direction of the housing is greater than or equal to the radius of the rotation shaft.

6. The chess playing robot as claimed in claim 5, wherein, When the chessboard is folded, the plurality of supporting legs of one of the housings and the plurality of supporting legs of the other housing are staggered arranged along the plane direction of the second plane.

7. The chess playing robot as claimed in claim 6, wherein, The housing comprises a plurality of locking interfaces, the plurality of locking interfaces are located on the second plane, when the chessboard is folded, the positions of the plurality of locking interfaces of one of the housings and the plurality of supporting legs of the other housing correspond to each other one by one, and the locking interface of one of the housings is used for accommodating and locking the supporting leg of the other housing.

8. The chess playing robot of claim 1, wherein, Each of the housings comprises a through hole, one end of each of the through holes is located on the second plane, and the other end is located on the side wall of the housing away from the rotation axis, and when the chessboard is folded, the two through holes are communicated to form a handle.

9. The chess playing robot as claimed in claim 1, wherein, When the chessboard is unfolded, the base is used to connect with two housings respectively, the pickup mechanism is used to pick up or place the chess pieces, the size of the base is greater than the size of the driving mechanism along the direction of the two housings arrangement.

10. The chess playing robot according to any one of claims 1 to 9, wherein, The pickup mechanism comprises a first hinge hole and a second hinge hole, the axes of the first hinge hole and the second hinge hole are parallel to each other and are arranged in the direction of the thickness of the housing when the mechanical arm is connected with the chessboard, and the driving mechanism is used to drive the base and the first hinge hole, wherein: The mechanical arm comprises a linkage mechanism, one end of the linkage mechanism is used to drive the base through the driving mechanism, the other end is used to drive the second hinge hole, the linkage mechanism is used to move with the driving mechanism and drive the pickup mechanism to rotate around the first hinge hole, so as to keep the posture of the pickup mechanism always perpendicular to the chessboard.

11. The chess playing robot as claimed in claim 10, wherein, The driving mechanism comprises a rotary table, a first movable arm and a second movable arm, the rotary table is rotationally connected with the base, the rotation axis of the rotary table is perpendicular to the chessboard, the two ends of the first movable arm are rotationally connected with the rotary table and the second movable arm respectively, the end of the second movable arm away from the first movable arm is used to rotationally connect with the first hinge hole, and the rotation axes of the two ends of the first movable arm are parallel to the axis of the first hinge hole.

12. The chess playing robot of claim 11, wherein, The driving mechanism comprises three motors, the three motors are fixed to the rotary table, and the three motors are respectively used to drive the rotary table to rotate relative to the base, the first movable arm to rotate relative to the rotary table, and the second movable arm to rotate relative to the first movable arm.

13. The chess playing robot of claim 12, wherein, The driving mechanism comprises a first transmission member and a second transmission member, the first transmission member comprises a first worm and a first worm wheel, the first worm wheel is fixedly connected with the end of the first movable arm towards the rotary table, and the first worm is transmissionally connected between one of the motors and the first worm wheel; and / or The second transmission member comprises a second worm, a second worm wheel and a transmission rod, the second worm wheel is rotationally connected with the end of the first movable arm towards the rotary table, the second worm is transmissionally connected between another of the motors and the second worm wheel, the two ends of the transmission rod are respectively rotationally connected with the second worm wheel and the second movable arm, and the rotation axes of the two ends of the transmission rod are parallel to the axis of the first hinge hole.

14. The chess playing robot of claim 11, wherein, The linkage mechanism comprises a first linkage, a second linkage and a connecting member, the connecting member comprises a first through hole, the first through hole is rotationally connected with the rotation axis between the first movable arm and the second movable arm, the two ends of the first linkage are respectively rotationally connected with the rotary table and the connecting member, the two ends of the second linkage are respectively rotationally connected with the connecting member and the second hinge hole, and the rotation axes of the two ends of the first linkage and the rotation axes of the two ends of the second linkage are parallel to the axis of the first hinge hole.

15. The chess playing robot of claim 14, wherein, The connecting piece comprises a second through hole and a third through hole, any two of the first through hole, the second through hole and the third through hole are spaced from each other, the axes of the second through hole and the third through hole are parallel to the axis of the first through hole, one end of the first connecting rod away from the rotary table is rotationally connected with the second through hole, and one end of the second connecting rod away from the second hinge hole is rotationally connected with the third through hole.

16. The chess playing robot of claim 15, wherein, The distance between the axis of the first hinge hole and the axis of the second hinge hole is equal to the distance between the axis of the first through hole and the axis of the third through hole; and / or The distance between the axis of the first hinge hole and the axis of the first through hole is equal to the distance between the axis of the second hinge hole and the axis of the third through hole.

17. The chess playing robot of claim 14, wherein, The housings of the first movable arm and the second movable arm are respectively formed with a first receiving cavity and a second receiving cavity, the first connecting rod is at least partially located in the first receiving cavity, and the second connecting rod is at least partially located in the second receiving cavity.

18. The chess playing robot according to any one of claims 1-9, wherein, The picking mechanism comprises a magnetic piece and a separation piece, the magnetic piece is located on the side of the separation piece away from the chessboard and is in sliding connection with the separation piece, and the magnetic piece is used for sliding towards or away from the separation piece to pick up or place the chess pieces on the chessboard.

19. The chess playing robot of claim 18, wherein, The separation piece comprises a protruding portion extending towards the chessboard, and the side of the separation piece towards the magnetic piece is provided with a receiving groove for accommodating at least part of the magnetic piece when the picking mechanism picks up the chess pieces.

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