CN206103289U - Automatic parasite aircraft that goes up of weiqi is constructed - Google Patents

Abstract

The utility model discloses an automatic parasite aircraft that goes up of weiqi is constructed, including revolving stage subassembly, clipper subassembly, slide subassembly and a plurality of chess bucket, the chess bucket is used for closed assembly piece in order, and the bottom is equipped with the passageway of releasing the piece, and the revolving stage subassembly has a center pin, the chess bucket uses the center pin evenly to arrange as the center, rotates around the center pin axis through driver part drive revolving stage subassembly, and the clipper subassembly has reciprocating motion's a clipper slider, the clipper slider is located chess barrel head portion passageway one side, and towards fixing the piece that the chess barrel head portion that is located was released to the direction, the slide subassembly is located chess barrel head portion passageway opposite side for the piece is received and fixed a position. The utility model discloses the no obvious noise of working is of value to the peace and quiet that keep playing chess the environment, goes up subprocess and robot automatic linking completely, need not artifical the interference, only needs the piece to exhaust the postaddition to to material, the requirement of manufacturing process un -specificness of weiqi piece, can directly be suitable for the last minor structure and the last sub - method of ordinary material weiqi piece, save the cost.

Description

Clamp mechanism is gone up in a kind of go automatically

Technical field

This utility model is related to a kind of go and goes up clamp mechanism automatically, and particularly relating to one kind can be according to go robot instruction Single chess piece is transported to into the automaton of specified location.

Background technology

Go robot is significant for the popularization and teaching of go, by computer software and robot arm Playing chess and people between is realized, be can be used for professional chess player training or the sparetime is played chess amusement.Because such go robot can only Son is taken from fixed point, it is therefore desirable to match somebody with somebody with robot and put minor structure.The instruction of the acceptable robot of upper minor structure controls out sub- section The color for clapping, going out son and the direction for going out son (guarantee flats down, and convex surface is upward).

There is following difference with the feeding operation on general industry in the upper subjob of go：1) low noise requirement, due to upper Minor structure is located near chessboard, and excessive noise can be interfered to the person of playing chess；2) chess piece point black and white, so can be by enough machines Black mole or white chessman in people's instruction, this function is most important for the pendulum final phase of a chess game.Further, since weiqi game chess subnumber mesh is more, if right Chess piece proposes embedded Magnet, changes the requirement such as special material, can improve the life-time service cost of go robot, and the suitability is not It is high.Therefore it is difficult that directly industrial feed mechanism is applied in go robot application.

Utility model content

This utility model solve technical problem be：Cannot directly obtain suitable for general for existing industrial feed mechanism The upper clamp mechanism of logical material go chess piece, this utility model provides a kind of new go robot special automatically upper handset Structure.

This utility model adopts the following technical scheme that realization：

Clamp mechanism is gone up in a kind of go automatically, including：

Some chess buckets 1, for closed assembly chess piece in order, the bottom of the chess bucket 1 is provided with the passage for releasing chess piece；

Turntable Assemblies 2, the Turntable Assemblies 2 have a central shaft 205, the chess bucket 1 uniform cloth centered on central shaft Put, drive Turntable Assemblies to rotate around center shaft axis by driver part；

Hairclipper component 3, the hairclipper component 3 has reciprocating hairclipper slide block 304, and the hairclipper slide block 304 is located at Chess bottom of the barrel passage side, towards fixed-direction the chess piece positioned at chess bottom of the barrel is released；

Slide assemblies 4, the slide assemblies 4 are located at chess bottom of the barrel passage opposite side, for receiving and position chess piece.

Further, the foot passage of the chess bucket 1 includes that being arranged on going out on chess bottom of the barrel side chess mouth 102 and pushes away chess Mouthfuls 103, it is described to go out chess mouth 102 and to push away chess mouth 103 and be arranged on the same diametric two ends in chess bucket section；

Wherein, it is described go out chess mouth 102 dock with slide assemblies 4, go out chess mouth maximum open width not less than chess piece diameter, It is highly more than the thickness of a chess piece and the thickness of chess piece is stacked less than two；

The chess mouth 103 that pushes away pushes away chess mouth maximum open width less than chess piece in the direction of motion of hairclipper slide block 304 Diameter and exceed hairclipper slide block 304 width, its highly exceed hairclipper slide block thickness.

Further, the bottom surface of the chess bucket 1 is provided with the opening come in and gone out for plug.

In this utility model, the Turntable Assemblies 2 include a round turntable 202, on the same circumference of the turntable 202 Equiangularly arranged to have some chess bungholes 206, the chess bucket 1 is opening up to be fixedly mounted in chess bunghole；The circle of the turntable 202 The heart is installed with central shaft 205 and is connected, and the turntable 202 or central shaft 205 are by gear train assembly 204 and turntable motor 201 connections.

Further, the top of the chess bucket 1 is provided with flange platform 101, and the chess bucket 1 is fixedly mounted by flange platform 101 On turntable.

Further, the flange platform 101 has trimming 104, and flange platform 101 is inlaid in same section of the periphery of chess bunghole 206 In the groove of face, the circumferential installation for realizing chess bucket is fixed；Positioning screw 203 is set in the side of chess bunghole 206, flange platform 101 is pressed Tightly on turntable, the axially mounted fixation of chess bucket is realized.

In this utility model, the hairclipper component 3 also includes crank 302, connecting rod 303 and hairclipper motor 301；Institute State connecting rod 303 to be hinged with hairclipper slide block 304, the hairclipper slide block 304 is slidedly assemblied in guide groove 305, the one end of the crank 302 It is hinged with connecting rod 303, the other end is connected with the output shaft of hairclipper motor 301.

In this utility model, the slide assemblies 4 include a slide unit 402, and the slide unit 402 is provided with an inclination angle and is more than 20 ° of slideway, the eminence of slideway is docked with chess bottom of the barrel passage, and lower extension is provided with the horizontal segment for being only capable of accommodating a chess piece, Chess piece is captured for robot arm.

Further, the horizontal segment of the slide unit 402 is provided with the shell fragment 403 contacted with chess piece, the shell fragment 403 and position Sensor 404 connects.

This utility model can export single white chessman or black mole according to robot instruction can be by upper sub- action point to specified location For two patterns：Final phase of a chess game pattern and pattern of playing chess.

Under final phase of a chess game pattern, interval is put into the chess bucket equipped with black mole and white chessman (i.e. in all chess buckets in Turntable Assemblies Chess piece color in same chess bucket is identical, and the chess piece color in adjacent chess bucket is different), according to go robot next one sub-color Demand, by chess bucket of the correspondence equipped with corresponding color chess piece the upper sub- station (position i.e. between hairclipper component and slide assemblies is gone to Put), then chess bucket bottom chess piece is pushed by chess piece slideway by the hairclipper slide block of hairclipper component, if slideway after a period of time On sensor no signal, then illustrate current chess bunghole without chess piece, control turntable rotates two stations, and the next one is filled into homochromy chess The chess bucket of son goes to sub- station, and then repeatedly hairclipper action, robot arm is carried out according to computer software from fixed position Son is taken, till the chess piece of white or black is used up on the turntable, now shut down, reported to the police, add the chess piece used up.

Under pattern of playing chess, chess player holds the white son or black mole, and all chess barreleds in Turntable Assemblies have plays chess with chess player The chess piece of another color, robot is sent after sub-instructions, first chess bucket is gone to into upper sub- position, and the hairclipper slide block of hairclipper component will Chess bucket bottom chess piece pushes chess piece slideway, if the sensor no signal on slideway after a period of time, then illustrates current chess bucket Hole rotates a station, the chess bucket that the next one fills homochromy chess piece is gone to into upper sub- station without chess piece, turntable, then repeats above-mentioned pushing away Son, turntable rotational action, until all chess pieces use until exhausted, shut down, report to the police, and the chess piece that addition is finished is in chess bucket.

This utility model has the advantages that

(1) using special design structure, without obvious noise in upper subprocess, it is beneficial to keep the peace and quiet of environment；

(2) subprocess is fully automated with robot on is connected, without the need for artificial interference, it is only necessary to which addition after chess piece is used up (can The maximum amount of chess piece quantity is disposably loaded according to the chess piece quantity of chess game, you can avoid adding chess piece)；

(3) in subprocess to material, the manufacturing process of go chess piece without particular/special requirement, can directly be suitable for common material and enclose The upper minor structure and upper submethod of chess chess piece, it is cost-effective.

This utility model is described further below in conjunction with the drawings and specific embodiments.

Description of the drawings

Fig. 1 is the overall schematic that clamp mechanism is gone up automatically by the go robot in embodiment.

Fig. 2 is the chess bucket main sectional view in embodiment.

Fig. 3 is the chess bucket top view in embodiment.

Fig. 4 is the Turntable Assemblies schematic diagram in embodiment.

Fig. 5 is the hairclipper component diagram in embodiment.

Fig. 6 is the slide assemblies schematic diagram in embodiment.

Label in figure：

1- chess buckets, 101- flange platforms, 102- goes out Qi Kou, and 103- pushes away chess mouth, 104- trimmings；

2- Turntable Assemblies, 201- turntable motors, 202- turntables, 203- Positioning screws, 204- gear train assemblies, 205- central shafts, 206- chess bungholes；

3- hairclipper components, 301- hairclipper motors, 302- cranks, 303- connecting rods, 304- hairclipper slide blocks, 305- guide grooves, 306- motor mounting racks；

4- slide assemblies, 401- chess pieces, 402- slide units, 403- shell fragments, 404- position sensors.

Specific embodiment

Embodiment

Referring to Fig. 1, it is illustrated that in go robot go up clamp mechanism automatically for preferred implementation of the present utility model, mainly Most of including chess bucket 1, Turntable Assemblies 2, hairclipper component 3 and slide assemblies 4 four, wherein chess bucket 1 is used to load chess piece, can basis The size of Turntable Assemblies arranges the chess bucket of respective numbers, and Turntable Assemblies 2 are used to installing chess bucket and drive the supreme sub- station of chess bucket Son is carried out out, hairclipper component 3 is used to the chess piece of chess bucket bottommost is pushed in slide assemblies 4, slide assemblies 4 are then used to push away The chess piece guide-localization for going out captures the specified location of chess piece to robot arm.

As shown in Figures 2 and 3, chess bucket 1 is tubbiness part, and one end open loads in order chess from opening into chess bucket Son, all of chess piece base plane is vertically stacked down in chess bucket, and the passage for releasing chess piece is provided with the bottom of chess bucket 1, from The passage releases the chess piece of lowermost end, and the chess piece on top is moved down under gravity automatically, realizes the automatically upper son of chess piece.Chess Bucket 1 internal diameter be slightly larger than chessman diameter, be easy to chess piece can the free sliding in chess bucket, but the diameter of chess bucket should avoid chess piece Collapse during closed assembly, the depth of the chess bucket 1 in the present embodiment can accommodate 15-22 chessman superposed.

The present embodiment is also provided with a vertical seam less than chess piece radius on the ladle body side of chess bucket, can be vertical by this Chess piece quantity and filling situation in seam Real Time Observation bucket.

With reference to referring to Fig. 4, Turntable Assemblies 2 include turntable motor 201, turntable 202, Positioning screw 203, gear drive The part such as system 204 and central shaft 205, the overall dead in line of Center-to-Center axle 205 of Turntable Assemblies, chess bucket 1 is with central shaft Centered on be evenly arranged in circle turntable 202 same circumference on.The center of circle of turntable 202 is installed with central shaft 205 and is connected, and is turned Platform 202 can be fixedly connected with central shaft 205, and central shaft 205 is fixedly mounted on bearing block by bearing, by turntable 202 or in Heart axle 205 is connected by gear train assembly 204 with turntable motor 201, drives turntable and central shaft together to rotate；Also may be used To be connected by bearing between turntable 202 and central shaft 205, central shaft is maintained static, and turntable 202 passes through gear train assembly 204 are connected with turntable motor 201, drive turntable to rotate alone about center shaft axis.

Turntable motor in the present embodiment drives the chess bucket on turntable to rotate by travelling gear, and turntable is rotated every time Angle be accurately controlled, rotational angle splits the angle of turntable according to some chess buckets determining, realizes that all chess buckets can Fine rotational is to the upper sub- station between hairclipper component and slide assemblies.

Fig. 4 and Fig. 2 and Fig. 3 is specifically combined, some chess bungholes 206 is angularly disposed with the same circumference of turntable 202, Chess bucket 1 is opening up to be fixedly mounted in chess bunghole 206, and the quantity of chess bunghole and chess bucket is according to the chess piece quantity of chessboard and plays chess Pattern is adjusted, and should at least be not less than two, it is ensured that one is in upper sub- station, and another can carry out chess piece filling. The external diameter of chess bucket 1 is equal to the diameter of chess bunghole, and on the top of chess bucket 1 prominent flange platform 101 is provided with, and flange platform 101 is provided with one Lateral incision side 104, one is provided with flange platform section identical groove in the periphery of chess bunghole 206, and flange platform 101 is inlaid in chess bunghole In the same section grooves of 206 peripheries, realize that the axially position of chess bucket and circumferential installation are fixed, prevent chess cylinder from turning in chess bore It is dynamic, while arranging Positioning screw 203 in the side of chess bunghole 206, flange platform 101 is pressed on turntable, realize the axial direction of chess bucket Install and fix, the Positioning screw 203 in the present embodiment adopts semicircle Positioning screw, by screw and semicircular compress gasket The axial restraint of chess bucket is realized, when changing chess bucket, it is only necessary to unclamp semicircle compress gasket by screw, and go to side, Chess bucket can be extracted out from chess bunghole, be easy to the quick-replaceable of chess bucket.

The foot passage of chess bucket 1 includes that being arranged on going out on chess bottom of the barrel side chess mouth 102 and pushes away chess mouth in the present embodiment 103, go out chess mouth 102 and push away chess mouth 103 to be arranged on the same diametric two ends in chess bucket section.

Wherein, go out chess mouth 102 to dock with slide assemblies 4, go out diameter of the chess mouth maximum open width not less than chess piece, this reality The chess mouth that goes out applied in example is 180 ° of chess bucket section fluting, and its A/F is identical with the internal diameter of chess bucket, slightly larger than the diameter of chess piece, Ensure that chess piece can be released smoothly, while the height for going out chess mouth 102 is more than the thickness of a chess piece and stacks chess less than two The thickness of son, it is to avoid the chess piece of top one for contacting is passed through into the related release of friction during pushing bottom chess piece.

Chess mouth 103 is pushed away in the direction of motion of hairclipper slide block 304, diameter of the chess mouth maximum open width less than chess piece is pushed away And more than the width of hairclipper slide block 304, the fluting for pushing away chess mouth 103 for chess bucket section less than 180 ° in the present embodiment, chess piece is not Can be from the turnover of chess mouth be pushed away, while pushing away chess mouth and going out between chess mouth to leave part chess barrel side face, it is ensured that chess barrel side face and chess drum head The connection in face, the height for pushing away chess mouth 103 exceedes the thickness of hairclipper slide block in hairclipper component, and smoothly turnover is pushed away to be conducive to hairclipper slide block Send chess piece.

Further, the bottom surface of chess bucket 1 is provided with the opening come in and gone out for plug, and the diameter of the opening is about 2/3 chessman diameter, In the dress period of the day from 11 p.m. to 1 a.m, it is available for the plug for being slightly less than its diameter to come in and go out, plug is used to reduce the distance that chess piece loads chess bottom of the barrel, to prevent Dress period of the day from 11 p.m. to 1 a.m chess piece falls directly into the process of chess bottom of the barrel to be occurred towards change.In dress subprocess, plug can be manually or automatically Extract out from chess bucket, fill sub- action is carried out in outside of the present utility model.

Referring specifically to Fig. 1 and Fig. 5, hairclipper component 3 includes that hairclipper motor 301, crank 302, connecting rod 303, hairclipper are slided The parts such as block 304, guide groove 305 and motor mounting rack 306, hairclipper component 3 constitutes crank block with crank 302 and connecting rod 303 Mechanism, realizes the chess piece for moving back and forth and then promoting chess bottom of the barrel, and specifically, hairclipper slide block 304 is slidedly assemblied in guide groove 305 In, the one end of connecting rod 303 is hinged with hairclipper slide block 304, and the one end of crank 302 is hinged with the other end of connecting rod 303, crank 302 it is another One end is connected with the output shaft of hairclipper motor 301, and periodic rotary is done in upper sub- action by hairclipper motor 301, The periodic reverse linear motion of hairclipper slide block is converted rotational motion to by slider-crank mechanism.Push rod should be able to smoothly come in and go out Chess mouth 103 is pushed away in upper sub- station chess bucket.Push rod can be set on hairclipper slide block 304 for pushing chess piece, the same energy of push rod Smoothly to come in and go out and push away chess mouth in upper sub- station chess bucket.The radial stroke of hairclipper slide block is more than chess bucket external diameter, when hairclipper slide block position Should be able to all exit when motor near-end in the chess bucket region of upper sub- station, it is to avoid turntable chess cylinder and hairclipper slide block in indexing Interfere, positioned at motor distal end when should ensure that and all release chess piece from chess bucket, it is to avoid chess piece can not be normal after releasing Slide to the specified location of slide assemblies.

Hairclipper component 3 in the present embodiment is fixedly installed on the inner side of chess bucket, towards the extrapolated chess piece positioned at chess bottom of the barrel In the slide assemblies 4 arranged to outside.

With reference to referring to Fig. 1 and Fig. 6, slide assemblies 4, slide assemblies 4 are located at the outside of chess bottom of the barrel passage, for receiving simultaneously Positioning chess piece, slide assemblies 4 specifically include slide unit 402, shell fragment 403 and position sensor 404, and slide unit 402 includes one section of inclination angle The horizontal segment that slideway and lower more than 20 ° extends, the eminence of slideway is docked with chess bottom of the barrel passage, the width ratio chess piece of slideway The big 1-2mm of 401 diameters, is easy to chess piece 401 smoothly can slide on slideway, and the horizontal segment of lower is only capable of accommodating a chess piece, Chess piece is captured for robot arm, the horizontal segment of slide unit 402 is provided with what is contacted with chess pieceShell fragment 403, shell fragment 403 and positionPut biography Sensor 404 connects, and position sensor can adopt microswitch, and the deflection of shell fragment is converted into into chess piece position signalling in place, When there is chess piece 401 to slide from slideway, shell fragment contacts and occurs miniature deformation with chess piece, and transmission position signalling is to position sensing Device, obtains the position signalling of son on chess piece, and further control robot arm carries out chess piece crawl.

The upper subprocess of the present embodiment is as follows, in advance go chess piece is loaded into chess bucket 1 according to the direction for flatting down, according to The difference of pattern poised for battle is divided into interval loading black mole, the chess bucket of white chessman or all chess barreleds and enters same color chess piece, according to The chess bucket of needs is gone to upper sub- station by pattern difference, then by the hairclipper slide block of hairclipper component 3 by chess bucket bottom chess piece Slide assemblies 4 are pushed, the record of position sensor 404 on slide assemblies grabs sub- position whether there is chess piece and grabs quantum count, controls go Robot is grabbed after the completion of son, and turntable 202 rotates next chess bucket to upper sub- station is specified, then repeatedly said process, until institute There is chess piece to use until exhausted, shut down, report to the police.

Specifically, the present embodiment exports single white chessman according to robot instruction or black mole can be by upper sub- action to specified location It is divided into two patterns：Final phase of a chess game pattern and pattern of playing chess.

Under final phase of a chess game pattern, interval is put into the chess bucket equipped with black mole and white chessman i.e. together in all chess buckets in Turntable Assemblies Chess piece color in one chess bucket is identical, and the chess piece color in adjacent chess bucket is different, according to go robot next one sub-color need Ask, chess bucket of the correspondence equipped with corresponding color chess piece is gone to into upper sub- station i.e. hairclipper component and slide assemblies position, then Chess bucket bottom chess piece is pushed by chess piece slideway by the hairclipper slide block of hairclipper component, if the sensing on slideway after a period of time Device no signal, then illustrate current chess bunghole without chess piece, and control turntable rotates two stations, the next one is filled into the chess bucket of homochromy chess piece Sub- station is gone to, then repeatedly hairclipper action, robot arm is grabbed son and carry out the final phase of a chess game and puts according to computer software, until turning Till the chess piece of white or black is used up on platform, now shut down, report to the police, add the chess piece used up.

Under pattern of playing chess, chess player holds the white son or black mole, and all chess barreleds in Turntable Assemblies have plays chess with chess player The chess piece of another color, robot is sent after sub-instructions, first chess bucket is gone to into upper sub- position, and the hairclipper slide block of hairclipper component will Chess bucket bottom chess piece pushes chess piece slideway, if the sensor no signal on slideway after a period of time, then illustrates current chess bucket Hole rotates a station, the chess bucket that the next one fills homochromy chess piece is gone to into upper sub- station without chess piece, turntable, then repeats above-mentioned pushing away Son, turntable rotational action, until all chess pieces use until exhausted, shut down, report to the police, and the chess piece that addition is finished is in chess bucket.

As above, this utility model just can be preferably realized, above-described embodiment is only preferred embodiment of the present utility model, Not it is used for limiting practical range of the present utility model；I.e. all impartial changes made according to this utility model content and modification, all Covered by this utility model protective scope of the claims.

Claims (9)

1. clamp mechanism is gone up in a kind of go automatically, it is characterised in that include：

Some chess buckets (1), for closed assembly chess piece in order, the bottom of the chess bucket (1) is provided with the passage for releasing chess piece；

Turntable Assemblies (2), the Turntable Assemblies (2) are with a central shaft (205), and the chess bucket (1) is equal centered on central shaft Even arrangement, drives Turntable Assemblies to rotate around center shaft axis by driver part；

Hairclipper component (3), the hairclipper component (3) is with reciprocating hairclipper slide block (304), the hairclipper slide block (304) Positioned at chess bottom of the barrel passage side, towards fixed-direction the chess piece positioned at chess bottom of the barrel is released；

Slide assemblies (4), the slide assemblies (4) for receiving and position chess piece positioned at chess bottom of the barrel passage opposite side.

2. clamp mechanism is gone up in a kind of go according to claim 1 automatically, and the foot passage of the chess bucket (1) includes being arranged on Going out Qi Kou (102) and push away chess mouth (103) on chess bottom of the barrel side, it is described to go out Qi Kou (102) and to push away chess mouth (103) and be arranged on chess The same diametric two ends in bucket section；

Wherein, it is described go out Qi Kou (102) dock with slide assemblies (4), go out chess mouth maximum open width not less than chess piece diameter, It is highly more than the thickness of a chess piece and the thickness of chess piece is stacked less than two；

The chess mouth (103) that pushes away pushes away chess mouth maximum open width less than chess piece in the direction of motion of hairclipper slide block (304) Diameter and exceed hairclipper slide block (304) width, its highly exceed hairclipper slide block thickness.

3. clamp mechanism is gone up in a kind of go according to claim 2 automatically, and the bottom surface of the chess bucket (1) is provided with and is come in and gone out for plug Opening.

4. clamp mechanism is gone up in a kind of go according to claim 1 and 2 automatically, and the Turntable Assemblies (2) include one circular turn Platform (202), is angularly disposed with some chess bungholes (206), chess bucket (1) opening on the same circumference of the turntable (202) In being fixedly mounted on chess bunghole upward；

The center of circle of the turntable (202) is installed with central shaft (205) and is connected, and the turntable (202) or central shaft (205) are by tooth Wheel drive system (204) is connected with turntable motor (201).

5. clamp mechanism is gone up in a kind of go according to claim 4 automatically, and the top of the chess bucket (1) is provided with flange platform (101), the chess bucket (1) is fixedly mounted on turntable by flange platform (101).

6. clamp mechanism is gone up in a kind of go according to claim 5 automatically, and the flange platform (101) is with trimming (104), method Blue platform (101) is inlaid in the same section grooves of chess bunghole (206) periphery, and circumferential installation for realizing chess bucket is fixed；In chess bunghole (206) side arranges Positioning screw (203), and flange platform (101) is pressed on turntable, realizes the axially mounted fixation of chess bucket.

7. clamp mechanism is gone up in a kind of go according to claim 1 and 2 automatically, and the hairclipper component (3) also includes crank (302), connecting rod (303) and hairclipper motor (301)；The connecting rod (303) is hinged with hairclipper slide block (304), the hairclipper Slide block (304) is slidedly assemblied in guide groove (305), and described crank (302) one end is hinged with connecting rod (303), the other end and hairclipper The output shaft connection of motor (301).

8. clamp mechanism is gone up in a kind of go according to claim 1 and 2 automatically, and the slide assemblies (4) are including a slide unit (402), the slide unit (402) is provided with slideway of the inclination angle more than 20 °, and the eminence of slideway is docked with chess bottom of the barrel passage, low Place's extension is provided with the horizontal segment for being only capable of accommodating a chess piece, and for robot arm chess piece is captured.

9. clamp mechanism is gone up in a kind of go according to claim 8 automatically, and the horizontal segment of the slide unit (402) is provided with and chess piece The shell fragment (403) of contact, the shell fragment (403) is connected with position sensor (404).