CN106422297B - Automatic go piece feeding mechanism - Google Patents
Automatic go piece feeding mechanism Download PDFInfo
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- CN106422297B CN106422297B CN201610914526.XA CN201610914526A CN106422297B CN 106422297 B CN106422297 B CN 106422297B CN 201610914526 A CN201610914526 A CN 201610914526A CN 106422297 B CN106422297 B CN 106422297B
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F3/00—Board games; Raffle games
- A63F3/00895—Accessories for board games
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F3/00—Board games; Raffle games
- A63F3/02—Chess; Similar board games
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F3/00—Board games; Raffle games
- A63F3/00895—Accessories for board games
- A63F2003/00943—Box or container for board games
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Abstract
The invention discloses an automatic go piece feeding mechanism which comprises a rotary table component, a piece pushing component, a slideway component and a plurality of chess barrels, wherein the chess barrels are used for sequentially stacking chess pieces, the bottom of each chess barrel is provided with a channel for pushing out the chess pieces, the rotary table component is provided with a central shaft, the chess barrels are uniformly arranged by taking the central shaft as the center and are driven to rotate around the axis of the central shaft by a driving component, the piece pushing component is provided with a piece pushing sliding block which reciprocates, the piece pushing sliding block is positioned on one side of the channel at the bottom of the chess barrel and pushes out the chess pieces positioned at the bottom of the chess barrel in a fixed direction, and the slideway component is positioned on the other side of the channel at the bottom of the chess barrel and is used for receiving and positioning the chess pieces. The invention has no obvious noise during working, is beneficial to keeping the quiet playing environment, is completely and automatically connected with the robot in the chess-loading process, does not need manual interference, only needs to be added after the chess pieces are used up, has no special requirements on the material and the manufacturing process of the chess pieces of the go, can be directly suitable for the chess piece loading structure and the chess piece loading method of the go chess pieces made of common materials, and saves the cost.
Description
Technical Field
The invention relates to an automatic go piece feeding mechanism, in particular to an automatic device capable of conveying single go pieces to a specified position according to a go robot instruction.
Background
The go robot has important significance for popularization and teaching of the go, realizes chess playing between people through computer software and robot arms, and can be used for professional chess player training or amateur chess playing entertainment. The go robot can only take the chess pieces from a fixed point, so a chess piece structure matched with the robot is needed. The upper substructure can receive the instructions of the robot to control the beat, the color and the orientation of the outlet (ensure that the plane faces downwards and the convex surface faces upwards).
The go piece loading operation is different from the ordinary industrial loading operation as follows: 1) the requirement of low noise, because the upper substructure is located near the chessboard, the excessive noise will cause interference to the players; 2) the chessmen are black and white, so that the chessmen can be marked with black or white according to the instructions of the robot, and the function is important for putting a residual game. In addition, due to the fact that the number of the pieces of the go is large, if requirements such as embedded magnets and replacement of special materials are provided for the pieces, long-term use cost of the go robot can be improved, and applicability is not high. It is difficult to directly apply the industrial feeding mechanism to the go robot application.
Disclosure of Invention
The technical problem solved by the invention is as follows: aiming at the problem that the existing industrial feeding mechanism can not directly obtain a piece feeding mechanism suitable for the pieces of the weiqi made of common materials, the invention provides a novel special automatic piece feeding mechanism for a weiqi robot.
The invention is realized by adopting the following technical scheme:
an automatic go piece feeding mechanism, comprising:
the chess barrels 1 are used for stacking the chess pieces in sequence, and the bottoms of the chess barrels 1 are provided with channels for pushing out the chess pieces;
the turntable assembly 2 is provided with a central shaft 205, the chess barrels 1 are uniformly arranged by taking the central shaft as the center, and the turntable assembly is driven to rotate around the axis of the central shaft by a driving part;
the chess piece pushing assembly 3 is provided with a reciprocating chess piece pushing sliding block 304, the chess piece pushing sliding block 304 is positioned on one side of a channel at the bottom of the chess barrel and pushes out the chess pieces positioned at the bottom of the chess barrel towards a fixed direction;
and the slideway component 4 is positioned on the other side of the channel at the bottom of the chess barrel and is used for receiving and positioning the chess pieces.
Further, the bottom channel of the chess barrel 1 comprises a chess outlet 102 and a chess pushing outlet 103 which are arranged on the side surface of the bottom of the chess barrel, and the chess outlet 102 and the chess pushing outlet 103 are arranged at two ends of the cross section of the chess barrel in the same diameter direction;
the chess outlet 102 is in butt joint with the slideway component 4, the maximum opening width of the chess outlet is not less than the diameter of the chess pieces, and the height of the chess outlet is greater than the thickness of one chess piece and not more than the thickness of two stacked chess pieces;
the chess pushing opening 103 is positioned in the moving direction of the chess pushing sliding block 304, the maximum opening width of the chess pushing opening is smaller than the diameter of the chess pieces and exceeds the width of the chess pushing sliding block 304, and the height of the chess pushing opening exceeds the thickness of the chess pushing sliding block.
Furthermore, the bottom surface of the chess barrel 1 is provided with an opening for the core rod to go in and out.
In the invention, the turntable component 2 comprises a circular turntable 202, a plurality of chess bucket holes 206 are arranged on the same circumference of the turntable 202 at equal angles, and the chess buckets 1 are fixedly installed in the chess bucket holes with upward openings; the center of the turntable 202 is connected with the central shaft 205, and the turntable 202 or the central shaft 205 is connected with the turntable stepping motor 201 through the gear transmission system 204.
Further, the upper portion of the chess barrel 1 is provided with a flange table 101, and the chess barrel 1 is fixedly installed on the rotary table through the flange table 101.
Further, the flange table 101 is provided with a cutting edge 104, and the flange table 101 is embedded in a groove with the same section on the periphery of the chess barrel hole 206 to realize circumferential installation and fixation of the chess barrel; and a positioning screw 203 is arranged at the side edge of the chess barrel hole 206 to tightly press the flange table 101 on the rotary table, so that the axial installation and fixation of the chess barrel are realized.
In the invention, the clipper assembly 3 further comprises a crank 302, a connecting rod 303 and a clipper stepping motor 301; the connecting rod 303 is hinged with a clipper sliding block 304, the clipper sliding block 304 is slidably assembled in the guide groove 305, one end of the crank 302 is hinged with the connecting rod 303, and the other end of the crank is connected with an output shaft of the clipper stepping motor 301.
In the invention, the slide way assembly 4 comprises a slide way 402, a slide way with an inclination angle larger than 20 degrees is arranged on the slide way 402, the high part of the slide way is butted with a channel at the bottom of the chess barrel, and the low part is extended with a horizontal section which can only contain one chess piece and is used for a robot arm to grab the chess pieces.
Furthermore, the horizontal section of the sliding table 402 is provided with an elastic sheet 403 which is in contact with the chess pieces, and the elastic sheet 403 is connected with the position sensor 404.
The invention can output a single white or black seed to a designated position according to the robot instruction, and can divide the actions of the upper part of the robot into two modes: a game-play mode and a game-play mode.
In a residual game mode, putting chess barrels with black pieces and white pieces in all chess barrels in a rotary table assembly at intervals (namely the colors of the chess pieces in the same chess barrel are the same, and the colors of the chess pieces in adjacent chess barrels are different), according to the requirement of the next piece color of a go robot, rotating the chess barrel with the chess pieces corresponding to the color to a top piece station (namely the position between a pusher assembly and a slideway assembly), pushing the lowermost chess piece of the chess barrel into a chess piece slideway through a pusher slider of the pusher assembly, indicating that no chess piece exists in a current chess barrel hole if a sensor on the slideway does not have a signal after a period of time, controlling the rotary table to rotate two stations, rotating the next chess barrel with the same-color chess piece to the top piece station, then repeating the pusher action, taking the piece from a fixed-point position by a robot arm according to computer software until the white or black chess pieces on the rotary table are all used up, stopping the machine at the moment, Alarming, and adding light chess pieces.
In the playing mode, a player holds white or black pieces, all pieces in the rotary table component are filled with pieces in another color, which are played by the player, after the robot sends a piece-playing instruction, the piece-playing barrel is firstly rotated to a piece-playing position, a piece-pushing sliding block of the piece-pushing component pushes the pieces at the bottom of the piece-playing barrel into a piece slide way, if a sensor on the slide way has no signal after a period of time, the current piece hole has no pieces, the rotary table rotates for one station, the next piece-playing barrel filled with pieces in the same color is rotated to a piece-playing station, then the rotation actions of the piece-pushing and the rotary table are repeated until all the pieces are used up, the machine is stopped, an alarm is given, and the used pieces are added into the piece-playing barrel.
The invention has the following beneficial effects
(1) By adopting a special design structure, no obvious noise is generated in the sub-process, which is beneficial to keeping the quiet of the playing environment;
(2) the chess piece feeding process is completely and automatically connected with the robot, manual interference is not needed, and only the chess pieces are added after being used up (the maximum quantity of the chess pieces can be added at one time according to the quantity of the chess pieces of the chess game, so that the chess pieces can be prevented from being added);
(3) the material and the manufacturing process of the pieces of the go have no special requirements in the piece feeding process, and the piece feeding structure and the piece feeding method of the pieces of the go made of common materials can be directly applied, so that the cost is saved.
The invention is further described with reference to the following figures and detailed description.
Drawings
Fig. 1 is an overall schematic diagram of an automatic go chess piece feeding mechanism of a go chess robot in the embodiment.
Fig. 2 is a main sectional view of the chess bucket in the embodiment.
Fig. 3 is a top view of the chess barrel in the embodiment.
Fig. 4 is a schematic view of a turntable assembly in an embodiment.
FIG. 5 is a schematic diagram of a clipper assembly in an embodiment.
Fig. 6 is a schematic view of a skid assembly in an embodiment.
Reference numbers in the figures:
1-a chess barrel, 101-a flange table, 102-a chess outlet, 103-a chess pushing port and 104-trimming;
2-turntable assembly, 201-turntable stepping motor, 202-turntable, 203-positioning screw, 204-gear transmission system, 205-central shaft, 206-chess barrel hole;
3-clipper component, 301-clipper stepping motor, 302-crank, 303-connecting rod, 304-clipper sliding block, 305-guide groove, 306-motor mounting bracket;
4-slideway component, 401-chessman, 402-sliding table, 403-spring plate, 404-position sensor.
Detailed Description
Examples
Referring to fig. 1, the automatic go-chess piece loading mechanism of the weiqi robot in the figure is a preferred embodiment of the invention and mainly comprises four parts, namely a chess barrel 1, a rotary table component 2, a pusher component 3 and a slideway component 4, wherein the chess barrel 1 is used for filling chess pieces, a corresponding number of chess barrels can be arranged according to the size of the rotary table component, the rotary table component 2 is used for installing the chess barrel and driving the chess barrel to go out chess pieces to a chess piece loading station, the pusher component 3 is used for pushing the chess pieces at the bottommost part of the chess barrel to the slideway component 4, and the slideway component 4 is used for guiding and positioning the pushed chess pieces to a designated position where a robot arm grabs the chess pieces.
As shown in fig. 2 and fig. 3, the chess barrel 1 is a barrel-shaped component, one end of the chess barrel is open, chess pieces are sequentially filled into the chess barrel from the opening, the bottom planes of all the chess pieces are downwards vertically stacked in the chess barrel, a channel for pushing out the chess pieces is arranged at the bottom of the chess barrel 1, the chess pieces at the bottom end are pushed out from the channel, and the chess pieces at the upper part automatically move downwards under the action of gravity, so that the automatic chess piece feeding is realized. The inner diameter of the chess barrel 1 is slightly larger than the diameter of the chess pieces, so that the chess pieces can freely slide in the chess barrel, but the diameter of the chess barrel is required to prevent the chess pieces from collapsing in the stacking process, and the depth of the chess barrel 1 in the embodiment can accommodate 15-22 stacked chess pieces.
The vertical seam that is less than the piece radius has still been opened on the ladle body side of chess bucket to this embodiment, and piece quantity and the packing condition in the bucket are observed in real time to this vertical seam of accessible.
Referring to fig. 4 in combination, the turntable assembly 2 includes a turntable stepping motor 201, a turntable 202, a set screw 203, a gear transmission system 204, a central shaft 205, etc., the center of the whole turntable assembly coincides with the axis of the central shaft 205, and the chess pieces 1 are uniformly arranged on the same circumference of the circular turntable 202 with the central shaft as the center. The center of the turntable 202 is connected with a central shaft 205 in an installing manner, the turntable 202 can be fixedly connected with the central shaft 205, the central shaft 205 is fixedly arranged on a bearing seat through a bearing, and the turntable 202 or the central shaft 205 is connected with a turntable stepping motor 201 through a gear transmission system 204 to drive the turntable and the central shaft to rotate together; the turntable 202 and the central shaft 205 can also be connected through a bearing, the central shaft is fixed, and the turntable 202 is connected with the turntable stepping motor 201 through the gear transmission system 204 to drive the turntable to rotate around the axis of the central shaft independently.
The turntable stepping motor in the embodiment drives the chess barrels on the turntable to rotate through the transmission gears, the rotating angle of the turntable can be accurately controlled at each time, and the rotating angle is determined according to the angle of the turntable divided by the chess barrels, so that all the chess barrels can be accurately rotated to the position of a son feeding station between the son pushing assembly and the slide assembly.
Specifically, with reference to fig. 4, 2 and 3, a plurality of barrel holes 206 are equidistantly arranged on the same circumference of the turntable 202 at equal angles, the opening of the barrel 1 is upward and fixedly installed in the barrel holes 206, the number of the barrel holes and the barrels is adjusted according to the number of the pieces on the chessboard and the playing mode, at least two of the barrel holes and the barrels should be not less than two, and it is ensured that one of the barrel holes is located at a piece loading station and the other one can be used for loading pieces. The outer diameter of the chess barrel 1 is equal to the diameter of a chess barrel hole, the upper part of the chess barrel 1 is provided with a protruded flange platform 101, the flange platform 101 is provided with a side trimming 104, the periphery of the chess barrel hole 206 is provided with a groove with the same cross section as the flange platform, the flange platform 101 is embedded in the groove with the same cross section on the periphery of the chess barrel hole 206, the axial positioning and circumferential installation and fixation of the chess barrel are realized, the chess barrel is prevented from rotating in the chess barrel hole, meanwhile, the side edge of the chess barrel hole 206 is provided with a positioning screw 203, the flange platform 101 is tightly pressed on a rotary table, the axial installation and fixation of the chess barrel is realized, the positioning screw 203 in the embodiment adopts a semicircular positioning screw, the axial fixation of the chess barrel is realized through a screw and a semicircular pressing gasket, when the chess barrel is replaced, the chess barrel can be drawn out from the chess barrel hole only through loosening the semicircular pressing gasket through the screw and turning to one side, and the quick replacement of the chess barrel is convenient.
In this embodiment, the bottom passage of the chess barrel 1 comprises a chess outlet 102 and a chess pushing outlet 103 which are arranged on the side surface of the bottom of the chess barrel, and the chess outlet 102 and the chess pushing outlet 103 are arranged at two ends of the cross section of the chess barrel in the same diameter direction.
The chess outlet 102 is in butt joint with the slideway component 4, the maximum opening width of the chess outlet is not smaller than the diameter of the chess pieces, the chess outlet in the embodiment is a slot with a cross section of the chess barrel of 180 degrees, the opening width is the same as the inner diameter of the chess barrel and is slightly larger than the diameter of the chess pieces, the chess pieces can be smoothly pushed out, meanwhile, the height of the chess outlet 102 is larger than the thickness of one chess piece and does not exceed the thickness of two stacked chess pieces, and the situation that the upper chess piece contacted with the bottom chess piece is pushed out through friction in the process of pushing the bottom chess piece is avoided.
The chess pushing port 103 is positioned in the moving direction of the chess pushing slider 304, the maximum opening width of the chess pushing port is smaller than the diameter of the chess and exceeds the width of the chess pushing slider 304, the chess pushing port 103 in the embodiment is a slot with the cross section of the chess barrel smaller than 180 degrees, the chess cannot enter and exit from the chess pushing port, meanwhile, part of the side face of the chess barrel is reserved between the chess pushing port and the chess outlet, the connection between the side face of the chess barrel and the bottom face of the chess barrel is ensured, the height of the chess pushing port 103 exceeds the thickness of the chess pushing slider in the chess pushing assembly, and the chess pushing slider can smoothly enter and exit the pushed chess.
Furthermore, the bottom surface of the chess barrel 1 is provided with an opening for the core rod to go in and out, the diameter of the opening is about 2/3 chess pieces, when the chess pieces are loaded, the core rod which is slightly smaller than the diameter of the chess pieces can go in and out, and the core rod is used for reducing the distance of the chess pieces loaded into the bottom of the chess barrel so as to prevent the orientation change of the process that the chess pieces directly fall into the bottom of the chess barrel when the chess pieces are loaded. During the loading process, the core rod can be manually or automatically drawn out of the chess barrel, and the loading action is carried out outside the chess barrel.
Specifically referring to fig. 1 and 5, the clipper assembly 3 includes a clipper stepping motor 301, a crank 302, a connecting rod 303, a clipper slider 304, a guide slot 305, a motor mounting bracket 306, and the like, the clipper assembly 3, the crank 302 and the connecting rod 303 constitute a crank slider mechanism to realize reciprocating motion and further push the pieces at the bottom of the chess barrel, specifically, the clipper slider 304 is slidably assembled in the guide slot 305, one end of the connecting rod 303 is hinged to the clipper slider 304, one end of the crank 302 is hinged to the other end of the connecting rod 303, the other end of the crank 302 is connected to an output shaft of the clipper stepping motor 301, the clipper stepping motor 301 performs periodic rotation during the movement of the clipper, and the crank slider mechanism converts the rotation motion into the periodic reciprocating linear motion of the clipper slider. The push rod can smoothly go in and out of the chess pushing port 103 of the chess barrel at the upper chess station. The pusher block 304 can be provided with a push rod for pushing the chess pieces, and the push rod can smoothly enter and exit the chess pushing port of the chess barrel at the chess piece loading station. The radial stroke of the pusher sliding block is larger than the outer diameter of the chess barrel, when the pusher sliding block is positioned at the near end of the motor, the pusher sliding block can be completely withdrawn from the area of the chess barrel positioned at the upper piece station, the chess barrel and the pusher sliding block are prevented from interfering when the rotary table is rotated, when the pusher sliding block is positioned at the far end of the motor, the chess pieces can be completely pushed out from the chess barrel, and the chess pieces cannot normally slide to the designated position of the slide way assembly after being pushed out are prevented.
The pushing component 3 in this embodiment is fixedly arranged at the inner side of the chess barrel, and pushes out the chess pieces at the bottom of the chess barrel to the outside to form the slideway component 4.
Referring to fig. 1 and 6, the chute assembly 4 is located outside the channel at the bottom of the chess cylinder for receiving and positioning the chess pieces, the chute assembly 4 specifically includes a sliding table 402, an elastic piece 403 and a position sensor 404, the sliding table 402 includes a section of sliding way with an inclination angle greater than 20 ° and a horizontal section extending at a lower position, the upper position of the sliding way is butted with the channel at the bottom of the chess cylinder, the width of the sliding way is 1-2mm larger than the diameter of the chess piece 401, so that the chess piece 401 can slide smoothly on the sliding way, the horizontal section at the lower position can only accommodate one chess piece for the robot arm to grasp the chess piece, the horizontal section of the sliding table 402 is provided with the elastic piece 403 contacting with the chess piece, the elastic piece 403 is connected with the position sensor 404, the position sensor can adopt a microswitch to convert the deformation amount of the elastic piece into a position signal of the chess piece, when the chess piece 401 slides down from the sliding way, the elastic piece contacts with the chess piece and generates a small deformation, and transmitting the position signal to a position sensor to obtain a position signal of the chessman upper part, and further controlling a robot arm to grab the chessman.
The chess piece feeding process of the embodiment is as follows, go chess pieces are loaded into a chess barrel 1 in the downward direction of the plane in advance, black pieces and white pieces are loaded into the chess barrel or all the chess barrels at intervals according to different arraying modes, needed chess barrels are transferred to upper piece stations according to different modes, then the chess pieces at the lowest part of the chess barrel are pushed into a slide way component 4 through a push piece sliding block of a push piece component 3, a position sensor 404 on the slide way component records the existence of the chess pieces at the piece grabbing positions and the quantity of the grabbed chess pieces, a go robot is controlled to grab the chess pieces, a rotary table 202 rotates the next chess barrel to a specified upper piece station, the process is repeated until all the chess pieces are used up, and the machine is stopped and alarmed.
Specifically, the present embodiment outputs a single white or black icon to a designated position according to a robot command, so that the actions of the upper icon can be divided into two modes: a game-play mode and a game-play mode.
In a residual game mode, the color of the chess pieces in the same chess barrel which is filled with black pieces and white pieces is the same in all the chess barrels in the rotary table assembly at intervals, the color of the chess pieces in adjacent chess barrels is different, the chess barrels which are correspondingly filled with the chess pieces with corresponding colors are transferred to the upper chess station according to the requirement of the next chess piece color of the go robot, namely the positions of the pusher assembly and the slideway assembly, then the lowermost chess piece of the chess barrel is pushed into the chess piece slideway through the pusher slider of the pusher assembly, if no signal is sent by a sensor on the slideway after a period of time, the current chess piece barrel hole has no chess piece, the rotary table is controlled to rotate two stations, the next chess barrel filled with the same-color chess pieces is transferred to the upper chess station, then the pusher action is repeated, the robot arm grabs the chess pieces according to the computer software to carry out residual game placement until the white or black chess pieces on the rotary table are all used up, and then the machine is stopped and alarmed, adding the chess pieces using light.
In the chess playing mode, the players hold white or black pieces, all the chess barrels in the turntable component contain pieces in another color which are played by the players, after the robot sends a piece-playing instruction, the chess barrels are firstly rotated to a piece-playing position, the piece-pushing sliding blocks of the piece-pushing component push the pieces at the bottom of the chess barrels into piece slideways, if no signal is sent by a sensor on the slideways after a period of time, the current chess barrel hole has no pieces, the turntable rotates for one station, the next chess barrel containing pieces in the same color is rotated to the piece-playing station, then the rotation actions of the piece-pushing component and the turntable are repeated until all the pieces are used up, the machine is stopped, an alarm is given, and the used pieces are added into the chess barrels.
Therefore, the present invention can be realized better, and the above embodiments are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention; therefore, the appended claims are to encompass within their scope all such changes and modifications as are within the true spirit and scope of this invention.
Claims (8)
1. An automatic go piece feeding mechanism is characterized by comprising:
the chess buckets (1) are used for stacking the chess pieces in sequence, the bottom planes of all the chess pieces are downwards stacked in the chess buckets (1) in a single vertical way, the inner diameter of each chess bucket (1) is larger than the diameter of each chess piece, and a channel for pushing out the chess pieces is arranged at the bottom of each chess bucket (1);
the rotary table component (2) is provided with a central shaft (205), the chess barrels (1) are uniformly arranged by taking the central shaft as a center, and the rotary table component is driven to rotate around the axis of the central shaft by a driving part;
the chess piece pushing assembly (3) is provided with a reciprocating chess piece pushing sliding block (304), and the chess piece pushing sliding block (304) is positioned on one side of a channel at the bottom of the chess barrel and pushes out chess pieces positioned at the bottom of the chess barrel towards a fixed direction;
the slideway component (4) is positioned on the other side of the channel at the bottom of the chess barrel and is used for receiving and positioning the chess pieces;
the bottom channel of the chess barrel (1) comprises a chess outlet (102) and a chess pushing port (103) which are arranged on the side surface of the bottom of the chess barrel, and the chess outlet (102) and the chess pushing port (103) are arranged at two ends of the cross section of the chess barrel in the same diameter direction; the chess outlet (102) is in butt joint with the slideway component (4), the maximum opening width of the chess outlet is not less than the diameter of the chess pieces, and the height of the chess outlet is greater than the thickness of one chess piece and not more than the thickness of two stacked chess pieces;
the chess pushing opening (103) is positioned in the moving direction of the chess pushing sliding block (304), the maximum opening width of the chess pushing opening is smaller than the diameter of the chess and exceeds the width of the chess pushing sliding block (304), and the height of the chess pushing opening exceeds the thickness of the chess pushing sliding block;
the side surface of the body of the chess barrel (1) is also provided with a vertical seam which is smaller than the radius of the chess pieces.
2. The automatic go-piece feeding mechanism of claim 1, wherein the bottom surface of the chess barrel (1) is provided with an opening for the insertion and removal of a core rod.
3. The automatic go piece feeding mechanism according to claim 1 or 2, wherein the turntable assembly (2) comprises a circular turntable (202), a plurality of chess barrel holes (206) are equidistantly arranged on the same circumference of the turntable (202), and the chess barrel (1) is fixedly installed in the chess barrel holes with an upward opening;
the circle center of the rotary table (202) is connected with the central shaft (205) in an installing mode, and the rotary table (202) or the central shaft (205) is connected with the rotary table stepping motor (201) through the gear transmission system (204).
4. The automatic go chess feeding mechanism according to claim 3, wherein a flange table (101) is arranged at the upper part of the chess barrel (1), and the chess barrel (1) is fixedly arranged on the rotary table through the flange table (101).
5. An automatic go piece feeding mechanism according to claim 4, wherein the flange table (101) is provided with a cutting edge (104), the flange table (101) is embedded in a groove with the same section on the periphery of the hole (206) of the chess barrel, and circumferential installation and fixation of the chess barrel are realized; and a positioning screw (203) is arranged on the side edge of the chess barrel hole (206) to tightly press the flange platform (101) on the rotary table, so that the axial installation and fixation of the chess barrel are realized.
6. The automatic go-piece feeding mechanism according to claim 1 or 2, wherein said pusher assembly (3) further comprises a crank (302), a connecting rod (303) and a pusher stepping motor (301); the connecting rod (303) is hinged with the clipper sliding block (304), the clipper sliding block (304) is assembled in the guide groove (305) in a sliding mode, one end of the crank (302) is hinged with the connecting rod (303), and the other end of the crank is connected with an output shaft of the clipper stepping motor (301).
7. The automatic go piece feeding mechanism according to claim 1 or 2, wherein the slide assembly (4) comprises a slide table (402), the slide table (402) is provided with a slide with an inclination angle larger than 20 degrees, the upper part of the slide is butted with the channel at the bottom of the chess barrel, and the lower part of the slide is extended with a horizontal section which can only accommodate one chess piece and is used for a robot arm to grab the chess piece.
8. The automatic go piece feeding mechanism of claim 7, wherein the horizontal section of the sliding table (402) is provided with a spring piece (403) contacting with the go piece, and the spring piece (403) is connected with the position sensor (404).
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| CN201610914526.XA CN106422297B (en) | 2016-10-20 | 2016-10-20 | Automatic go piece feeding mechanism |
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| CN201610914526.XA CN106422297B (en) | 2016-10-20 | 2016-10-20 | Automatic go piece feeding mechanism |
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| CN106422297B true CN106422297B (en) | 2022-09-13 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107214710A (en) * | 2017-06-30 | 2017-09-29 | 合肥探奥自动化有限公司 | A kind of chess gaming robot for being used to show |
| CN107737448B (en) * | 2017-09-30 | 2023-12-19 | 杭州科技职业技术学院 | automatic chess machine |
| CN110405781B (en) * | 2019-07-15 | 2022-05-17 | 东南大学 | Chess playing mechanical arm for man-machine chess playing, control system and method thereof |
| CN111546356A (en) * | 2020-05-14 | 2020-08-18 | 温州可普汇信息科技有限责任公司 | Man-machine interactive go playing robot capable of automatically supplying and resetting chess |
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| CN2897353Y (en) * | 2006-03-31 | 2007-05-09 | 上海科技馆 | Man-machine chessing device |
| CN203611250U (en) * | 2013-12-23 | 2014-05-28 | 北京晨鑫意科技有限公司 | Robot for playing chess |
| CN104606878A (en) * | 2013-11-05 | 2015-05-13 | 中科英华湖州工程技术研究中心有限公司 | Automatic Weiqi manual making device for Weiqi |
| CN104606877A (en) * | 2013-11-05 | 2015-05-13 | 中科英华湖州工程技术研究中心有限公司 | Automatic sorting device for Weiqi |
| WO2015113440A1 (en) * | 2014-01-30 | 2015-08-06 | Zheng Shi | System and method for changing the state of user interface element marked on physical objects |
| CN206103289U (en) * | 2016-10-20 | 2017-04-19 | 中南大学 | Automatic parasite aircraft that goes up of weiqi is constructed |
-
2016
- 2016-10-20 CN CN201610914526.XA patent/CN106422297B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2897353Y (en) * | 2006-03-31 | 2007-05-09 | 上海科技馆 | Man-machine chessing device |
| CN104606878A (en) * | 2013-11-05 | 2015-05-13 | 中科英华湖州工程技术研究中心有限公司 | Automatic Weiqi manual making device for Weiqi |
| CN104606877A (en) * | 2013-11-05 | 2015-05-13 | 中科英华湖州工程技术研究中心有限公司 | Automatic sorting device for Weiqi |
| CN203611250U (en) * | 2013-12-23 | 2014-05-28 | 北京晨鑫意科技有限公司 | Robot for playing chess |
| WO2015113440A1 (en) * | 2014-01-30 | 2015-08-06 | Zheng Shi | System and method for changing the state of user interface element marked on physical objects |
| CN206103289U (en) * | 2016-10-20 | 2017-04-19 | 中南大学 | Automatic parasite aircraft that goes up of weiqi is constructed |
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| CN106422297A (en) | 2017-02-22 |
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