CN114310860A

CN114310860A - Get son device and robot of playing chess

Info

Publication number: CN114310860A
Application number: CN202111667034.2A
Authority: CN
Inventors: 陈永胜; 唐明勇; 贾凡; 鲁白; 沈徽
Original assignee: Beijing Sensetime Technology Development Co Ltd
Current assignee: Beijing Sensetime Technology Development Co Ltd
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2022-04-12

Abstract

The embodiment of the application provides a get son device and robot of playing chess, relates to the technical field of robots, and under the prerequisite of getting the distance between son device and the piece in ability self-adaptation, can solve and get the son reverse collision fixing base and cause the problem of getting the damage of son device. The sub-device of getting in this application embodiment includes fixing base, gets sub-piece, rope, driving piece and elastic buffer mechanism. The fixed seat is connected with a mechanical arm of the chess playing robot, a tensioning mechanism is arranged on the fixed seat, the piece taking part is provided with a piece taking part used for grabbing the chess pieces, two ends of the rope are respectively connected with the tensioning mechanism and the piece taking part, and the driving part is used for driving the tensioning mechanism to tension or release the rope so as to pull the piece taking part towards the fixed seat or enable the piece taking part to fall under the action of gravity. The elastic buffer mechanism is arranged between the fixed seat and the sub-taking part, and when the distance between the fixed seat and the sub-taking part is reduced, the elastic buffer mechanism is in an elastic compression state. The chess piece taking device in the embodiment of the application is used for moving chess pieces.

Description

Get son device and robot of playing chess

Technical Field

The embodiment of the application relates to but is not limited to the field of robots, in particular to a chess piece taking device and a chess playing robot.

Background

Playing chess is a sports activity with antagonism, athletics and entertainment, and can exercise the thinking ability of people. Nowadays, the rise of networks makes the common form of playing chess that users sit in front of an electronic screen to operate. However, the mode reduces face-to-face communication, reduces the fun of real objects, and can cause damage to eyes for a long time. Therefore, with the development of artificial intelligence, the chess playing robot is provided in the related technology, and the chess playing robot can simulate a person to move chess pieces manually, so that people do not need to face a screen for a long time on one hand, and the chess playing robot is beneficial to body health; on the other hand, a better game atmosphere can be created, and the game is more friendly to the old and children.

The mechanical arm of the existing chess playing robot realizes the function of operating the chess pieces and mainly comprises two modules, the mechanical arm and a chess piece taking device, wherein the chess piece taking device is arranged at the tail end of the mechanical arm, the mechanical arm can drive the chess piece taking device to move to a position where the chess pieces need to be taken or released, and the chess piece taking part of the chess piece taking device moves towards the position of the chess pieces to grab or release the chess pieces. In order to realize the movement of the pickup part in the pickup device, there are various implementations, for example, a lead screw and nut mechanism, when a driving member drives a screw rod member or a nut member to rotate, a relative displacement is generated between the screw rod member and the nut member along an extending direction of the screw rod member, so that the pickup member is displaced relative to a fixed seat.

However, when the mechanical arm takes the chess pieces far away, the mechanical arm is basically in a fully unfolded state, the mechanical arm is influenced by self gravity and installation errors, the distance between the piece taking device and the chess pieces is smaller than a set value, when the piece taking device moves to the surface of the chess pieces, the movement stroke of the piece taking device still continues to move according to the set value, and as a wire rod piece fixedly connected with the piece taking device in the screw rod nut mechanism is a rigid body, pressure continues to be exerted on the chess pieces, on one hand, the effect of absorbing the distance errors cannot be achieved, and on the other hand, the continuous pressure exerted on the chess pieces can enable external force to be reversely transmitted to the driving machine to be constructed into a driving piece to be damaged.

Disclosure of Invention

In view of this, embodiments of the present application provide a chess piece taking device and a chess playing robot, which can adapt to a distance between the chess piece taking device and a chess piece.

In order to achieve the above object, in a first aspect, the chess piece taking device provided in the embodiments of the present application is disposed on a chess playing robot, and includes a fixing base, a chess piece taking member, a rope, a driving member, and an elastic buffer mechanism. The device comprises a fixed seat, a chess piece taking mechanism, a driving piece and a driving piece, wherein the fixed seat is connected with a mechanical arm of the chess playing robot, the fixed seat is provided with a tensioning mechanism, the chess piece taking mechanism is provided with a taking sub-portion used for grabbing chess pieces, two ends of a rope are respectively connected with the tensioning mechanism and the chess piece taking mechanism, the driving piece is used for driving the tensioning mechanism to tension the rope so as to pull the chess piece taking mechanism up towards the fixed seat, and the driving piece is used for driving the tensioning mechanism to release the rope so as to enable the chess piece taking mechanism to fall under the action of gravity. Elastic buffer gear, elastic buffer gear set up the fixing base and get between the son, when the fixing base with get the interval between the son and reduce, elastic buffer gear is in the elastic compression state.

The sub-device of getting that provides at this application embodiment specifically, through driving tensioning mechanism of driving with the rope tensioning to will get the son and draw up towards the fixing base, and be used for driving tensioning mechanism and release the rope, so that get the son and receive the action of gravity and fall, through getting son and taking place the displacement for the fixing base, realize getting the action of son. Wherein, get the son device and contain including setting up at the fixing base and getting the elastic buffer mechanism between the son piece, when the fixing base with get the interval between the son piece and reduce, elastic buffer mechanism's both ends lean on with the fixing base with getting the son piece respectively, elastic buffer mechanism is in the compression state and stores elastic potential energy, like this when the taut mechanism of driving piece drive is with rope release, the rope can relax, elastic buffer mechanism release elastic potential energy can make and get the son piece and reset, and then get the son piece and move relative fixing base minimum, the piece that will snatch is placed.

In addition, when the robot of playing chess when the unoperated state, people's unconscious action may press and get the son device, this application embodiment gets the son device and contains including setting up at the fixing base and getting the elastic buffer mechanism between the son, the fixing base this moment and get the interval between the son and reduce, elastic buffer mechanism's both ends respectively with the fixing base with get the son and lean on, elastic buffer mechanism department can automatic absorption external force, consequently, can avoid getting son reverse collision fixing base and cause and get the son device damage.

In a possible implementation of the present application, the elastic buffer mechanism includes a spring, and when the distance between the fixing seat and the sub-taking member is reduced, the two ends of the spring respectively abut against the fixing seat and the sub-taking member. The elastic buffer mechanism can also have multiple realization modes, for example, the elastic buffer mechanism is a spring, an elastic sheet, a rubber pad and the like, and compared with the elastic buffer mechanism, the spring is easy to deform and has large elasticity, and the impact mitigation and vibration absorption effects are good. When the distance between the fixed seat and the taking-out piece is reduced, the spring can provide elastic force far away from the fixed seat for the taking-out piece, and power is provided for the returning of the taking-out piece. When the distance between the fixed seat and the chess piece is increased, the spring can reduce the instantaneous speed of the chess piece when the chess piece is contacted by the pick-up part, and large impact cannot occur.

In one possible implementation of the present application, the spring is sleeved outside the rope. When the driving piece is opened and closed, the spring and the rope can be stressed along the same straight line.

In a possible implementation of this application, it has the projection to get one side of son towards the fixing base upwards to extend, and the spring is taken the one end of son and cup jointed outside the projection. Therefore, the spring can be stable towards one end of the sub-taking part, and the stress direction of the spring and the stress direction of the sub-taking part are along the same line when the spring is stressed.

In a possible implementation of this application, get the subcomponent and include the sleeve and set up the subcomponent and the spring holder of getting in the sleeve, have the baffle in the sleeve, the spring holder sets up the one side of baffle towards the fixing base, and spring holder and telescopic inner wall sliding connection, the spring supports on the spring holder towards the one end of getting the subcomponent, gets the subcomponent setting and keeps away from one side of fixing base at the baffle, the rope passes spring holder, baffle in proper order and gets the subcomponent and be connected.

In a possible implementation of the present application, the inner wall of the sleeve has a guide groove provided along the vertical direction, the outer wall of the spring seat has a guide protruding strip extending along the vertical direction, and the guide protruding strip slidably extends into the guide groove, so that the spring seat is slidably connected with the inner wall of the sleeve. Therefore, the spring sleeved on the spring seat cannot deviate from the direction of the rope to bear force when bearing force.

In a possible implementation of this application, the guide way is a plurality of, and a plurality of guide ways set up along the even interval of circumference of sleeve inner wall, and the direction sand grip is a plurality of, and a plurality of direction sand grips set up with a plurality of guide ways one-to-one. A plurality of guide ways set up along the even interval of the circumference of sleeve inner wall, and the sleeve inner wall atress is more even on the one hand to reduce inner wall wearing and tearing, on the other hand can make the spring holder atress concentrate on following the rope direction.

In a possible implementation manner of the present application, the pick-up portion is an electromagnet, and the pick-up portion can pick up the chess piece by magnetic force. The sub-portion of getting can be multiple shape, and the sub-portion of getting of this application adopts discoid, and compare, discoid workable and discoid easily with the sleeve phase-match in this application. At least one part of the corresponding chessman is made of magnetic conductive material which can be adsorbed by magnetic force, so that the chessman can be controlled to be grabbed or released by the control of the on-off of the electromagnet and the power supply.

In a possible implementation manner of the application, a guide sleeve is fixed on one side of the fixed seat facing the sub-taking part, and the sub-taking part can slide along the inner wall of the guide sleeve.

In one possible implementation of the present application, the tensioning mechanism comprises a swing arm, the drive member driving the swing arm to rotate about a first end thereof, a second end of the swing arm being connected with the rope.

In a possible implementation manner of the application, the tensioning mechanism further comprises a transition wheel, the transition wheel is rotatably connected with the fixed seat and is positioned above the vertical direction of the sub-taking piece, and the middle part of the rope is lapped on the filtering wheel. The transition wheel can be used for supporting the rope, the guiding effect on the rope is achieved, and the sub-taking part can move more stably.

In a possible implementation manner of the application, the driving element is a steering engine, and an output shaft of the steering engine is connected with a first end of the swing arm. The drive member may also be another motor, such as a stepper motor or the like. Compared with the prior art, the steering engine is used as one of servo motors, is suitable for control systems which need constantly changing angles and can be kept, is generally applied to high-grade remote control toys such as airplane models and submarine models and remote control robots, is low in price, compact in structure and convenient to install, and is an ideal driver for chess playing robots. An output shaft of the steering engine is connected with the first end of the swing arm to drive the swing arm to rotate so as to tighten or release the rope through the tensioning mechanism.

In a second aspect, an embodiment of the present application provides a chess playing robot, including a base, a mechanical arm, and the chess fetching device of any one of the first aspect, wherein the mechanical arm is connected with the base and can move relative to the base; the sub-device is arranged on the mechanical arm, and when the mechanical arm moves relative to the base, the sub-device can be driven to move to a target position.

The utility model provides a robot of playing chess, owing to get the son device including any one in the first aspect, consequently have same technological effect, promptly, get under the prerequisite of son device and piece distance in the ability self-adaptation, on the one hand when the piece receives external force interference or people unconsciously to press and get the son device and make and get son and piece when bumping, thereby elastic buffer mechanism can absorb external force automatically and avoid getting son reverse collision fixing base and cause and get the son device damage. On the other hand, when the driving piece drives the tensioning mechanism to release the rope, the rope can be loosened, the elastic buffering mechanism releases elastic potential energy to enable the sub-taking piece to reset, and then the sub-taking piece moves to the lowest point of the corresponding fixed seat, and the grabbed chessmen are placed.

Drawings

FIG. 1 is a schematic perspective view of a mechanical arm of a chess playing robot according to an embodiment of the present application when the mechanical arm moves to a close position to pick a chess piece;

fig. 2 is a schematic perspective view of a mechanical arm of the chess playing robot according to the embodiment of the application when the mechanical arm moves to a remote place to take a chess piece;

FIG. 3 is a schematic diagram of electrical connections between components of a chess playing robot according to an embodiment of the present application;

FIG. 4 is a schematic structural diagram of the pickup device according to the embodiment of the present application in a state of not being picked up;

FIG. 5 is a schematic structural diagram of a sub-fetching device according to an embodiment of the present application in a sub-fetching state;

fig. 6 is a schematic perspective view of a sub-fetching device according to an embodiment of the present application;

FIG. 7 is an exploded view of a sub-assembly according to an embodiment of the present application;

fig. 8 is a schematic perspective view of a swing arm, a transition wheel, a spring seat and a sub-fetching member connected in sequence by a rope according to an embodiment of the present application.

FIG. 9 is a perspective view of a spring seat according to an embodiment of the present application;

fig. 10 is a perspective view of a sleeve according to an embodiment of the present disclosure.

Description of reference numerals:

1-a base; 2-a mechanical arm; 21-a first connecting arm; 22-a second connecting arm; 3-a son taking device; 31-a fixed seat; 312-a guide sleeve; 32-taking a son piece; 321-a pick-up part; 322-a sleeve; 3221-a separator; 3222-a guide groove; 323-spring seat; 3231-guiding ribs; 3232-convex column; 34-a rope; 35-a drive member; 36-a tensioning mechanism; 361-swing arm; 362-transition wheel; 37-an elastic buffer mechanism; 4-chessboard; 5-chess pieces; 6-an acquisition module; 7-a processing module; 8-a head housing; 9-torso shell.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, specific technical solutions of the present application will be described in further detail below with reference to the accompanying drawings in the embodiments of the present application. The following examples are intended to illustrate the present application but are not intended to limit the scope of the present application.

In the embodiments of the present application, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present application, "a plurality" means two or more unless otherwise specified.

In addition, in the embodiments of the present application, directional terms such as "upper", "lower", "left", and "right" are defined with respect to the schematically-placed orientation of components in the drawings, and it is to be understood that these directional terms are relative concepts, which are used for descriptive and clarifying purposes, and may be changed accordingly according to changes in the orientation in which the components are placed in the drawings.

In the embodiments of the present application, unless otherwise explicitly specified or limited, the term "connected" is to be understood broadly, for example, "connected" may be a fixed connection, a detachable connection, or an integral body; may be directly connected or indirectly connected through an intermediate.

In the embodiments of the present application, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

In the embodiments of the present application, words such as "exemplary" or "for example" are used to mean serving as an example, instance, or illustration. Any embodiment or design described herein as "exemplary" or "e.g.," is not necessarily to be construed as preferred or advantageous over other embodiments or designs. Rather, use of the word "exemplary" or "such as" is intended to present concepts related in a concrete fashion.

The embodiment of the application provides a chess playing robot, which realizes chess playing with a user through an artificial intelligence system. Wherein, playing chess can be in any possible form, such as: chinese chess, go, military chess, Chinese checkers, gobang, etc. And can also be the types of folk miscellaneous chess, such as the twitch chess, the tactical chess, the tiger-driving chess and the like in the tidal region.

Referring to fig. 1 and 2, the chess playing robot includes a base 1, a mechanical arm 2, a piece taking device 3, a chessboard 4, a head shell 8 and a body shell 9. Wherein, base 1 is fixed for chess board 4, and wherein, head casing 8 is connected with trunk casing 9, and robotic arm 2 is connected with trunk casing 9, and can get sub-device 3 and set up on robotic arm 2 for base 1 motion, and when robotic arm 2 moved for base 1, robotic arm 2 can drive and get sub-device 3 and move to the target location. In this structure, the mechanical arm 2 can drive the sub-device 3 to move relative to the chessboard 4, so that the sub-device 3 can take or drop the sub-device.

Specifically, in the process of taking chess pieces by the chess-playing robot, the mechanical arm 2 drives the chess-taking device 3 to move to a target position, then the chess-taking device 3 makes linear motion towards the direction close to the chessboard 4 to grab the chess pieces 5, then the chess-taking device 3 makes linear motion towards the direction far away from the chessboard 4 to separate the chess pieces 5 from the chessboard 4, and finally the mechanical arm 2 drives the chess-taking device 3 which grabs the chess pieces 5 to move so as to move the chess pieces 5 to other places. In the process of falling chess pieces by the chess playing robot, the mechanical arm 2 firstly drives the chess piece taking device 3 which is grabbed with the chess pieces 5 to move to a target position, then the chess piece taking device 3 makes linear motion in the direction close to the chessboard 4 and releases the chess pieces 5 to the chessboard 4, then the chess piece taking device 3 makes linear motion in the direction far away from the chessboard 4, and finally the mechanical arm 2 drives the chess piece taking device 3 to move to other places.

The embodiment of the application provides a chess playing robot, and referring to fig. 1 and 2, a chessboard 4 can be a part of the chess playing robot. Namely, the chess playing robot also comprises a chessboard 4, and the chessboard 4 is fixed on a base 1.

The embodiment of the application provides a chess playing robot, referring to fig. 1 and 2, mechanical arm 2 includes first connecting arm 21 and second connecting arm 22, one end of first connecting arm 21 rotates with trunk casing 9 to be connected, the other end rotates with the one end of second connecting arm 22 to be connected, gets sub-device 3 and sets up in the other end of second connecting arm 22, the rotation axis of first connecting arm 21 relative base 1 and the rotation axis of second connecting arm 22 relative first connecting arm 21 all are perpendicular with chess board 4. Structural style like this, robotic arm 2 can drive and get sub-device 3 and remove in the plane that is on a parallel with chess board 4, the one end of second linking arm 22 is rotated and is connected in the other end of first linking arm 21, the other end of second linking arm 22 is provided with gets sub-device 3, make second linking arm 22 can drive in the direction that is on a parallel with chess board 4 and get sub-device 3 and be close to or keep away from the center of rotation of first linking arm 21 relative fixed seat 31, and then make and get sub-device 3 and have great home range in the plane that is on a parallel with chess board 4, be convenient for make and get sub-device 3 and remove to the target location.

It should be noted that, referring to fig. 1 and 2, the plane perpendicular to the chessboard 4, i.e. perpendicular to the plane of the chessboard 4 for placing the chess pieces 5, is parallel to the chessboard 4, i.e. parallel to the plane of the chessboard 4 for placing the chess pieces 5.

In some examples of the present application, referring to fig. 1 and 2, the rotation axis of the first connecting arm 21 and the rotation axis of the second connecting arm 22 may also not be perpendicular to the playing board 4. The rotation axis of the first connecting arm 21 and the rotation axis of the second connecting arm 22 intersect the chessboard 4.

In some examples of the present application, referring to fig. 1 and 2, the first connecting arm 21 and the second connecting arm 22 may also be slidably connected, and the moving direction of the second connecting arm 22 relative to the first connecting arm 21 intersects with the chessboard 4.

In some examples of the present application, referring to fig. 1 and 2, the first connecting arm 21 may be slidably connected to the fixing seat 31, and the moving direction of the first connecting arm 21 relative to the fixing seat 31 intersects with the chessboard 4.

In some examples of the present application, referring to fig. 1 and 2, the robot arm 2 may also be an industrial-grade robot arm 2 for industrial production.

In some examples of the present application, referring to fig. 1 and 2, the number of the robot arms 2 is multiple, each robot arm 2 is provided with a sub-fetching device 3, and the multiple robot arms 2 are distributed along the circumferential direction of the chessboard 4. In this way, the plurality of robot arms 2 respectively drive the plurality of corresponding sub-devices 3 to move. Each pick-up device 3 is respectively responsible for pick-up and drop-down work of the corresponding part of the chessboard 4.

In some examples of the present application, referring to fig. 2 and 3, the chess playing robot further includes an acquisition module 6 and a processing module 7, and the mechanical arm 2, the sub-fetching device 3 and the acquisition module 6 are electrically connected to the processing module 7. The acquisition module 6 is used for acquiring the chessboard 4 information and the opposite target object information, and the processing module 7 is used for receiving and calculating according to the received chessboard 4 information and the opposite target object information and sending instructions or signals for controlling the actions of the mechanical arm and the sub-taking device 3. In such a structure, the mechanical arm 2 and the sub-device 3 can make actions according to the chessboard 4 information and the opposite target object information, so as to better realize interaction with the user.

Referring to fig. 1 and 2, the information on the chessboard 4 refers to information displayed on the chessboard 4, including the positions of the chessmen 5 on the chessboard 4, the movement position of the robot arm 2, and the like. The user information refers to information displayed by the user, and comprises information such as language, expression, action, wearing, appearance and the like of the user.

In some examples of the present application, referring to fig. 3, the acquisition module 6 is a combination of one or more of a camera, a scanner, or a recorder, among others.

It should be noted that, because the chess playing robot has a large position range for taking the chess pieces in the whole chessboard 4, and the mechanical arm 2 of the robot and the chessboard 4 cannot be completely kept in parallel, referring to fig. 1, when the mechanical arm 2 retracts, the self-gravity of the mechanical arm 2 and the self-installation error are small, and the distance between the chess piece taking device 3 installed at the tail end of the mechanical arm 2 and the chess pieces 5 approaches to a set value, so that the chess pieces can be taken according to a normal set value. However, referring to fig. 2, when the mechanical arm 2 of the robot extends far, the end of the mechanical arm 2 sinks greatly due to the self-gravity and self-installation error of the mechanical arm 2, so that the distance between the chess piece taking device 3 at the end of the mechanical arm 2 and the chess piece 5 is smaller than a set value, and at this time, the chess piece taking device 3 continues to move towards the chess piece 5 according to the set value when taking the chess piece, and then hard collision occurs between the chess piece taking device 3 and the chess piece 5, so that the chess piece taking device 32 collides with the fixing seat 31 in the opposite direction, and the device is damaged. If each position is provided with different height of the picking piece, the picking piece device is very complicated, a large amount of time is input, but if only one fixed value picking piece is set, the picking piece device 3 and the chess pieces 5 are in hard collision, so that the picking piece 32 collides with the fixed seat 31 reversely, the picking piece device 3 is damaged, and the surface of the chess pieces 5 is damaged in the hard collision process.

In order to solve the above technical problem, the present application provides a chess playing robot piece taking device 3 with a self-adaptive height difference, which is arranged on a chess playing robot, and with reference to fig. 4, 5 and 6, comprises a fixed seat 31, a piece taking piece 32, a rope 34, a driving piece 35 and an elastic buffer mechanism 37. The fixed seat 31 is connected with the mechanical arm 2 of the chess playing robot, the fixed seat 31 is provided with a tensioning mechanism 36, the piece taking part 32 is provided with a taking part 321 for taking chess pieces, two ends of the rope 34 are respectively connected with the tensioning mechanism 36 and the piece taking part 32, the driving part 35 is used for driving the tensioning mechanism 36 to tension the rope 34 so as to pull the piece taking part 32 towards the fixed seat 31, and is used for driving the tensioning mechanism 36 to release the rope 34 so as to enable the piece taking part 32 to fall under the action of gravity. The elastic buffer mechanism 37 is arranged between the fixed seat 31 and the piece taking part 32, when the distance between the fixed seat 31 and the piece taking part 32 is reduced, the elastic buffer mechanism 37 is in an elastic compression state, at the moment, the elastic buffer mechanism 37 stores elastic potential energy, so that when the driving part 35 drives the tensioning mechanism 36 to release the rope 34, and the rope 34 is loosened, the elastic buffer mechanism 37 releases the elastic potential energy to reset the piece taking part 32, further, the piece taking part 32 moves to the lowest point relative to the fixed seat 31, and the grabbed chessman 5 is placed.

In addition, when the chess playing robot is in a non-working state, the chess taking device 3 can be pressed by the unconscious action of a person, the chess taking device 3 comprises an elastic buffer mechanism 37 arranged between the fixed seat 31 and the chess taking piece 32, the distance between the fixed seat 31 and the chess taking piece 32 is reduced at the moment, two ends of the elastic buffer mechanism 37 are respectively abutted against the fixed seat 31 and the chess taking piece 32, and the elastic buffer mechanism 37 is in a compression state and can automatically absorb external force to avoid the chess taking piece 32 from reversely colliding with the fixed seat 31 to cause damage to the chess taking device 3.

It should be noted that the fixed seat 31 is connected to the mechanical arm 2 of the chess playing robot in a screw connection, a bolt connection, a stud connection or a snap connection.

The elastic buffer mechanism 37 can be implemented in various ways, for example, the elastic buffer member of the elastic buffer mechanism 37 is a spring plate, a rubber pad, etc., and compared with the spring, the spring is easy to deform and has high elasticity, and the impact mitigation and vibration absorption effects are good. Therefore, in the sub-taking device 3 according to the embodiment of the present application, referring to fig. 4 and 5, the elastic buffer mechanism 37 is a spring, and when the distance between the fixed seat 31 and the sub-taking piece 32 is reduced, two ends of the spring respectively abut against the fixed seat 31 and the sub-taking piece 32. With the structure, when the distance between the fixed seat 31 and the taking part 32 is reduced, the two ends of the elastic buffer mechanism 37 respectively abut against the fixed seat 31 and the taking part 32, and the spring can provide an elastic force far away from the fixed seat 31 for the taking part 32, so that power is provided for the taking part 32 to reset. When the distance between the fixing base 31 and the pick-up element 32 is increased, the spring can reduce the instantaneous speed of the pick-up element 32 contacting the chess piece 5 without large impact.

In addition, the spring is sleeved outside the rope 34, and when the driving piece 35 is opened and closed, the spring and the rope 34 are stressed to be in the same straight line. Where the cord 34 may be any flexible member, the cord 34 may be, for example, a nylon thread, a fiber thread, a belt, or the like. Since the rope 34 is flexible, the external force is not reversely transmitted to the driving member 35, thereby achieving the function of the error absorbing protector. Similarly, because the cord 34 is flexible, when a person unconsciously presses the sub-assembly 3, the cord 34 will be in a slack state, and will not transmit the pressing force back, and will not cause damage to the power source and the transmission member.

Referring to fig. 8 and 9, a convex pillar 3232 extends upward from the side of the sub-fetching member 32 facing the fixing seat 31, and one end of the spring facing the sub-fetching member 32 is sleeved outside the convex pillar 3232. Therefore, one end of the spring, which faces the sub-taking part 32, can be stabilized, and the stress direction of the spring and the stress direction of the sub-taking part 32 can be along the same line when the spring is stressed. Here, one side of the fixing base 31 is extended upward to form other shapes, for example, the cross section is rectangular, oval, etc., and compared with the cross section, the cross section is a circular convex column 3232 which is easy to process and more convenient for the spring to be sleeved.

Illustratively, referring to fig. 5, 6 and 8, the pick-up member 32 includes a sleeve 322, and a pick-up portion 321 and a spring seat 323 arranged in the sleeve 322, a partition 3221 is arranged in the sleeve 322, the spring seat 323 is arranged on a side of the partition 3221 facing the fixed seat 31, the spring seat 323 is slidably connected with an inner wall of the sleeve 322, one end of the spring facing the pick-up member 32 abuts against the spring seat 323, the pick-up portion 321 is arranged on a side of the partition 3221 away from the fixed seat 31, and the rope 34 sequentially passes through the spring seat 323 and the partition 3221 to be connected with the pick-up portion 321. The partition 3221 has a through hole in the middle, so that the rope 34 passes through the through hole to guide the rope 34, and the second end of the rope 34 passing through the through hole is fastened to the central axis of the pick-up portion 321 by a connecting member, so that the pick-up portion 321, the spring seat 323 and the sleeve 322 are integrated into the pick-up member 32.

It should be noted that, in fig. 6, 9 and 10, the inner wall of the sleeve 322 has a guide groove 3222 arranged in the vertical direction, the outer wall of the spring seat 323 has a guide protrusion 3231 extending in the vertical direction, and the guide protrusion 3231 slidably extends into the guide groove 3222, so that the spring seat 323 is slidably connected with the inner wall of the sleeve 322. Therefore, the spring sleeved on the spring seat 323 can not deviate from the direction of the rope 34 when being stressed.

Further, referring to fig. 6, 9 and 10, a plurality of guide grooves 3222 are provided, a plurality of guide ribs 3231 are provided, the plurality of guide ribs 3231 and the plurality of guide grooves 3222 are arranged at regular intervals along the circumferential direction of the inner wall of the sleeve 322, the guide ribs 3231 are arranged in one-to-one correspondence with the plurality of guide grooves 3222, and the guide ribs 3231 penetrate through the corresponding guide grooves 3222 and are in clearance fit with the guide groove bodies 3222. The plurality of guide grooves 3222 are uniformly spaced along the circumference of the inner wall of the sleeve 322, so that the inner wall of the sleeve is stressed more uniformly, and the abrasion of the inner wall is reduced.

The pick-up portion 321 may have various shapes, for example, referring to fig. 8, the pick-up portion has a disk shape, which is easy to process and match with the sleeve 322, and the outer contour of the pick-up portion 321 should be smaller than the inner contour of the sleeve 322. In addition, the form of the pickup portion 321 may also be a clamping jaw, an electromagnet, a suction cup or a buckle, and compared with the above, the electromagnet can conveniently adjust the magnitude of the magnetic attraction force, and the pickup is more firm and reliable. For example, referring to fig. 1, 5 and 8, the pickup portion 321 is an electromagnet, and the pickup portion 321 can pick up the chess piece 5 by magnetic force, so that at least a part of the corresponding chess piece 5 is made of a magnetically conductive material that can be attracted by magnetic force, such as most of metals, and the like, and thus, the pickup portion 31 can be controlled to pick up or release the chess piece 5 only by controlling the on/off of the electromagnet and the power supply, which is easy to implement and has a simple structure.

Referring to fig. 6, 9 and 10, a guide sleeve 312 is fixed on one side of the fixed seat 31 facing the taking-out piece 32, and the taking-out piece 32 can slide along the inner wall of the guide sleeve 312. The inner wall of the guide sleeve 312 and the outer wall of the sub-element 32 are circular in cross-section in the direction of extension of the guide sleeve 312. With such a structure, on one hand, the sub-taking piece 32 can be protected, and on the other hand, the sub-taking device 3 is more attractive.

In some examples, referring to fig. 7, the tensioning mechanism 36 includes a swing arm 361, the drive 35 driving the swing arm 361 to rotate about a first end thereof, a second end of the swing arm 361 being connected to the cable 34.

In addition, referring to fig. 6, 7 and 8, the tensioning mechanism 36 includes a transition wheel 362, the transition wheel 362 is rotatably connected with the fixed seat 31 and is located above the vertical direction of the withdrawing member 32, and the middle part of the rope 34 is overlapped on the filter wheel 362. In such a structure, the rope 34 drives the sub-taking part 32 to move by pulling the transition wheel 362, so that the sub-taking part 32 can move more stably, and in addition, the transition wheel 362 can make the pulling force applied to the rope 34 smaller, so that the rope 34 has higher load capacity, and the sub-taking device 3 also has higher reliability.

In some examples, referring to fig. 6, the driving member 35 is a steering engine, and an output shaft of the steering engine is connected to a first end of the swing arm 361. The output shaft of the steering engine is drivingly connected to the first end of the swing arm 361 to drive the swing arm 361 to rotate. The steering engine is one of servo motors, is suitable for control systems which need angle change constantly and can be kept, has been generally applied to high-grade remote control toys, such as airplane models and submarine models, and remote control robots, has low price and compact structure, can be conveniently installed on the fixed seat 31, and is an ideal driving piece for chess playing robots. Of course, in some other embodiments, the driving member 35 may be a stepping motor or other type of servo motor, etc.

It should be noted that the output shaft of the steering engine is in transmission connection with the swing arm 361, and various implementation modes can be provided as long as the transmission of the rotation torque can be realized. In some examples, the output shaft of the steering engine is fixedly connected to the swing arm 361, or the output shaft of the steering engine is connected to the swing arm 361 through a transmission mechanism.

It should be further noted that the output shaft of the steering engine and the swing arm 361 may be fixedly connected, for example, directly connected, such as welded, fastened, or indirectly connected, such as connected through a coupling; the output shaft of the steering engine is connected with the swing arm 361 through a transmission mechanism, and the transmission mechanism can be a gear structure, belt transmission or chain transmission and the like.

It should be noted that the chess playing robot provided by the embodiment of the present application includes the base 1, the mechanical arm 2, the head housing 8 and the trunk housing 9, in any of the above embodiments, the chess taking device 3, wherein the mechanical arm 2 is connected with the trunk housing 9 and can move relative to the base 1; the sub-device 3 is arranged on the mechanical arm 2, and when the mechanical arm 2 moves relative to the base 1, the sub-device 3 can be driven to move to a target position.

The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments. The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are included in the scope of the present application.

Claims

1. A seed fetching device, comprising:

the fixed seat is used for being connected with a mechanical arm of the chess playing robot, and a tensioning mechanism is arranged on the fixed seat;

the chess picking piece is provided with a picking part for picking the chess;

the two ends of the rope are respectively connected with the tensioning mechanism and the sub-taking piece;

the driving piece is used for driving the tensioning mechanism to tension the rope so as to pull the sub-taking piece towards the fixed seat, and the driving piece is used for driving the tensioning mechanism to release the rope so as to enable the sub-taking piece to fall under the action of gravity;

the elastic buffer mechanism is arranged between the fixed seat and the sub-taking part, and when the distance between the fixed seat and the sub-taking part is reduced, the elastic buffer mechanism is in an elastic compression state.

2. The extractor device according to claim 1, wherein the elastic buffer mechanism comprises a spring, and when the distance between the fixed seat and the extractor member is reduced, two ends of the spring respectively abut against the fixed seat and the extractor member.

3. The extractor device of claim 2 wherein said spring is disposed about said cord.

4. The sub-taking device according to claim 3, wherein a convex pillar extends upwards from one side of the sub-taking piece facing the fixed seat, and one end of the spring facing the sub-taking piece is sleeved outside the convex pillar.

5. The sub-device according to claim 4, wherein the sub-element comprises a sleeve, a sub-element and a spring seat, the sub-element and the spring seat are arranged in the sleeve, a partition is arranged in the sleeve, the spring seat is arranged on one side of the partition, which faces the fixed seat, the spring seat is slidably connected with the inner wall of the sleeve, one end, which faces the sub-element, of the spring abuts against the spring seat, the sub-element is arranged on one side, which is far away from the fixed seat, of the partition, and the rope sequentially penetrates through the spring seat and the partition to be connected with the sub-element.

6. The pickup device according to claim 5, wherein the inner wall of the sleeve has a guide groove provided in a vertical direction, and the outer wall of the spring holder has a guide rib extending in the vertical direction, the guide rib slidably protruding into the guide groove to slidably connect the spring holder to the inner wall of the sleeve.

7. The sub-device of claim 6, wherein the plurality of guide grooves are evenly spaced along the circumference of the inner wall of the sleeve, the plurality of guide ribs are provided, and the plurality of guide ribs and the plurality of guide grooves are provided in one-to-one correspondence.

8. The pick-off device of claim 5, wherein the pick-off portion is an electromagnet.

9. The extractor device according to any one of claims 1 to 8, wherein a guide sleeve is fixed on one side of the fixed seat facing the extractor member, and the extractor member can slide along the inner wall of the guide sleeve.

10. The sub-device according to any one of claims 1 to 8, wherein the tensioning mechanism comprises a swing arm, the driving member drives the swing arm to rotate around a first end of the swing arm, and a second end of the swing arm is connected with the rope.

11. The extractor device according to claim 10, wherein the tensioning mechanism further comprises a transition wheel rotatably connected with the fixed seat and located above the extractor member in the vertical direction, and the middle part of the rope is overlapped on the filter wheel.

12. The sub-fetching device of claim 10, wherein the driving member comprises a steering engine, and an output shaft of the steering engine is connected with the first end of the swing arm.

13. A chess playing robot, comprising:

a base;

the mechanical arm is connected with the base and can move relative to the base;

the sub-device of any one of claims 1 to 12, wherein the sub-device is disposed on the mechanical arm, and when the mechanical arm moves relative to the base, the sub-device is driven to move to a target position.