CN214924463U - Novel plane joint structure for go robot - Google Patents

Abstract

The utility model discloses a novel a plane joint structure for weiqi robot, it is including setting firmly first motor and the bearing frame on the chess board, the pivot is installed to the bearing frame internal rotation, and the disk body is installed at the top of pivot, is provided with belt drive mechanism between pivot and the first motor, and the top of disk body has set firmly second motor and first armed lever, has the initiative connecting rod axle through the coupling joint on the output shaft of second motor, has set firmly first connecting rod on the initiative connecting rod axle, has set firmly first fixed axle on the other end of first connecting rod, and the top of driven connecting rod axle has set firmly the second connecting rod, and the other end of second connecting rod has set firmly the second fixed axle. The utility model has the advantages that: the chess pieces are firmly grabbed, the chess piece grabbing efficiency is improved, and the manufacturing cost is low.

Description

Novel plane joint structure for go robot

Technical Field

The utility model relates to a technical field of weiqi robot structure, especially a novel a plane joint structure for weiqi robot.

Background

The robot technology is the comprehensive application of multiple disciplines, and industrial robots realize autonomous motion through robot joints, among numerous types of robots, the planar joint type robot is small in size and simple in transmission principle, and is one of the most common forms of industrial robots in the current industrial field.

In the field of life and entertainment, the planar articulated robot is less applied. In the field of weiqi, a novel robot is quietly prosperous. The go robot can play a role of 'partner training' while accompanying a user and enriching the life of the user, and train the playing level of the go of the user; and the robot can be used as a bridge due to the nature of the robot, and popularizes the emerging robot education at present. The go robot can accurately avoid the defects of computer go software, such as influence on the eyesight of children by an electronic display screen, and obstacles existing in the aspect of using computers by most old people. In addition, the user experience of the go robot is incomparable with computer software through good real-time interaction existing between the modes of chessboard recognition, autonomous chess-moving decision making and control and execution module cooperative work and the user.

The existing chess playing robot is low in speed of taking chess pieces by claws, namely, the action of claws is operated by adopting an XYZ servo nut pair, the action processes are more, so that the time consumed by the claws for taking single chess pieces is increased, the efficiency of the claws and the chess pieces is reduced, and the overall size of the go robot is undoubtedly increased by the three lead screw nut pairs, so that the robot is not suitable for being used in common families. In addition, when the existing robot grabs the chess pieces through the mechanical claw, the outer surfaces of the chess pieces are smooth, and the chess pieces are easy to fall off from the claw in the process of moving the chess pieces. Therefore, a planar joint structure with the functions of firmly claw-taking the chessman, improving the claw-taking efficiency of the chessman and low manufacturing cost is needed.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art's shortcoming, provide a compact structure, firm claw get the piece, improve the piece claw and get efficiency, low in manufacturing cost's novel plane joint structure for weiqi robot.

The purpose of the utility model is realized through the following technical scheme: a novel plane joint structure for a go robot comprises a first motor and a bearing seat which are fixedly arranged on a chessboard, a rotating shaft is rotatably arranged in the bearing seat, a disc body is arranged at the top of the rotating shaft, a belt transmission mechanism is arranged between the rotating shaft and the first motor, a second motor and a first arm rod are fixedly arranged at the top of the disc body, an output shaft of the second motor is connected with a driving connecting rod shaft through a coupler, a first connecting rod is fixedly arranged on the driving connecting rod shaft, a first fixed shaft is fixedly arranged at the other end of the first connecting rod, the first arm rod extends rightwards, a driven connecting rod shaft is rotatably arranged on the extending end, a second connecting rod is fixedly arranged at the top of the driven connecting rod shaft, a second fixed shaft is fixedly arranged at the other end of the second connecting rod, an intermediate rod is arranged between the second fixed shaft and the first fixed shaft, one end of the intermediate rod is rotatably arranged on the first fixed shaft, and the other end of the intermediate rod is rotatably arranged on the second fixed shaft; the driven connecting rod shaft is fixedly provided with a second arm rod, the second arm rod extends rightwards, the extending end is fixedly provided with a steering engine, an output shaft of the steering engine is provided with a rotary table, the end face of the rotary table is fixedly provided with a suction pipe, the lower port of the suction pipe is fixedly provided with a suction disc, and the upper port of the suction pipe is connected with the working port of a vacuum pump through a hose.

The belt transmission mechanism comprises a driving belt wheel, a driven belt wheel and a belt, the driving belt wheel is installed on an output shaft of the first motor, the driven belt wheel is installed on the rotating shaft, and the belt is installed between the driving belt wheel and the driven belt wheel.

Two ends of the middle rod are respectively and fixedly provided with an ear plate, and the two ear plates are respectively and rotatably arranged on the first fixing shaft and the second fixing shaft.

The bearing seat is arranged on the right side of the first motor.

The bottom plate of the bearing seat is fixed on the chessboard through screws.

The length of the first arm lever is greater than that of the second arm lever.

The vacuum pump further comprises a controller, and the controller is electrically connected with the first motor, the second motor and the vacuum pump.

The utility model has the advantages of it is following: the utility model discloses firm claw gets the piece, improves piece claw and gets efficiency, low in manufacturing cost.

Drawings

Fig. 1 is a schematic structural view of the present invention;

in the figure, 1-chessboard, 2-first motor, 3-bearing seat, 4-rotating shaft, 5-disk body, 6-second motor, 7-first arm rod, 8-driving connecting rod shaft, 9-first connecting rod, 10-first fixed shaft, 11-driven connecting rod shaft, 12-second connecting rod, 13-second fixed shaft, 14-middle rod, 15-second arm rod, 16-steering engine, 17-rotating disk, 18-suction pipe, 19-driving belt wheel, 20-driven belt wheel and 21-belt.

Detailed Description

The invention will be further described with reference to the accompanying drawings, without limiting the scope of the invention to the following:

as shown in fig. 1, a novel plane joint structure for a go robot comprises a first motor 2 and a bearing seat 3 fixedly arranged on a chessboard 1, a rotating shaft 4 is rotatably arranged in the bearing seat 3, a disc body 5 is arranged on the top of the rotating shaft 4, a belt transmission mechanism is arranged between the rotating shaft 4 and the first motor 2, a second motor 6 and a first arm rod 7 are fixedly arranged on the top of the disc body 5, an output shaft of the second motor 6 is connected with a driving connecting rod shaft 8 through a coupler, a first connecting rod 9 is fixedly arranged on the driving connecting rod shaft 8, a first fixing shaft 10 is fixedly arranged on the other end of the first connecting rod 9, the first arm rod 7 extends rightwards, a driven connecting rod shaft 11 is rotatably arranged on the extending end, a second connecting rod 12 is fixedly arranged on the top of the driven connecting rod shaft 11, a second fixing shaft 13 is fixedly arranged on the other end of the second connecting rod 12, an intermediate rod 14 is arranged between the second fixing shaft 13 and the first fixing shaft 10, one end of the intermediate rod 14 is rotatably mounted on the first fixed shaft 10, and the other end is rotatably mounted on the second fixed shaft 13; a second arm rod 15 is fixedly arranged on the driven connecting rod shaft 11, the second arm rod 15 extends rightwards, a steering engine 16 is fixedly arranged on the extending end, a rotary table 17 is mounted on an output shaft of the steering engine 16, a suction pipe 18 is fixedly arranged on the end face of the rotary table 17, a suction disc is fixedly arranged at the lower port of the suction pipe 18, and the upper port of the suction pipe 18 is connected with a working port of a vacuum pump through a hose.

The belt transmission mechanism comprises a driving belt wheel 19, a driven belt wheel 20 and a belt 21, wherein the driving belt wheel 19 is installed on an output shaft of the first motor 2, the driven belt wheel 20 is installed on the rotating shaft 4, and the belt 21 is installed between the driving belt wheel 19 and the driven belt wheel 20. Two ends of the middle rod 14 are respectively and fixedly provided with an ear plate, and the two ear plates are respectively and rotatably arranged on the first fixing shaft 10 and the second fixing shaft 13. The bearing support 3 is arranged on the right side of the first motor 2. The bottom plate of the bearing seat 3 is fixed on the chessboard 1 through screws. The length of the first arm 7 is greater than the length of the second arm 15. It still includes the controller, the controller is connected with first motor 2, second motor 6 and vacuum pump electricity, can control the start-up or close of first motor 2, second motor 6 and vacuum pump through the controller, has made things convenient for user's operation, has the characteristics that degree of automation is high.

The working process of the utility model is as follows:

previously putting chess pieces at the set position of the chessboard 1; when a user moves one of the chessmen, the controller controls the first motor 2 to start, the first motor 2 drives the driving belt wheel 19 to rotate, the driving belt wheel 19 drives the driven belt wheel 20 to rotate through the belt 21, the driven belt wheel 20 drives the rotating shaft 4 to rotate around the axis of the rotating shaft 4, the rotating shaft 4 drives the disc body 5 to rotate, and the disc body 5 drives the second motor 6 and the suction pipe 18 to synchronously rotate in the circumferential direction, so that the suction pipe 18 moves mainly; meanwhile, the controller controls the second motor 6 to start, the output shaft of the second motor 6 drives the driving connecting rod shaft 8 to rotate, the driving connecting rod shaft 8 drives the first fixed shaft 10 to synchronously rotate, the first fixed shaft 10 drives the second fixed shaft 13 to rotate through the intermediate rod 14, the second fixed shaft 13 drives the second connecting rod 12 to rotate around the axis of the driven connecting rod shaft 11, the second connecting rod 12 drives the driven connecting rod shaft 11 to rotate, the driven connecting rod shaft 11 drives the second arm rod 15 to rotate around the driven connecting rod shaft 11, the second arm rod 15 drives the steering engine 16 and the suction pipe 18 to synchronously rotate, so that the suction pipe 18 makes an auxiliary motion towards the direction of a chessman to be pawn-picked, when the suction cup is observed to move right above the chessman, the controller controls the steering engine 16, the steering engine 16 drives the rotary table 17 to rotate, the rotary table 17 drives the suction pipe 18 to rotate for a certain angle, the suction pipe 18 makes the suction cup contact with the top surface of the chessman, and then controls the vacuum pump to start, the vacuum pump vacuumizes the suction pipe 18 and the sucker, the chess pieces are adsorbed on the sucker to realize the claw taking of the chess pieces under negative pressure, and finally the first motor 2 and the second motor 6 are controlled to act so that the chess pieces taken by the claws move to the designated positions, and the vacuum pump is closed after the chess pieces are in place, so that the transfer of the chess pieces is realized.

Because this structure makes the piece do the primary motion simultaneously and do the secondary motion again, consequently compare the tradition and adopt the vice operation jack catch action of XYZ servo nut, very big shortening the claw of piece and got the time to very big improvement the claw of piece and got efficiency, and this structure is in utilizing the steering wheel to replace and accomplishes the motion of Z direction, has simplified overall structure, has reduced the volume of whole weiqi robot, is applicable to the use of ordinary family very much. In addition, this structure adopts the form of negative pressure to adsorb the piece, and the piece is got more firmly to the claw, compares traditional mechanical type claw and gets the mode, and the effectual phenomenon that drops appears in the piece when having avoided shifting has the characteristics that the piece was got to firm claw.

Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (7)

1. The utility model provides a novel a plane joint structure for weiqi robot which characterized in that: it includes first motor (2) and bearing frame (3) that set firmly on chess board (1), pivot (4) are installed to bearing frame (3) internal rotation, disk body (5) are installed at the top of pivot (4), be provided with belt drive between pivot (4) and first motor (2), second motor (6) and first armed lever (7) have set firmly at the top of disk body (5), there is initiative connecting rod axle (8) through the coupling joint on the output shaft of second motor (6), first connecting rod (9) have set firmly on initiative connecting rod axle (8), first fixed axle (10) have set firmly on the other end of first connecting rod (9), first armed lever (7) extend to the right, and extend to serve the rotatory driven connecting rod axle (11) of installing, the top of driven connecting rod axle (11) has set firmly second connecting rod (12), the other end of second connecting rod (12) has set firmly second fixed axle (13), an intermediate rod (14) is arranged between the second fixed shaft (13) and the first fixed shaft (10), one end of the intermediate rod (14) is rotatably arranged on the first fixed shaft (10), and the other end of the intermediate rod is rotatably arranged on the second fixed shaft (13); a second arm rod (15) is fixedly arranged on the driven connecting rod shaft (11), the second arm rod (15) extends rightwards, a steering engine (16) is fixedly arranged on the extending end, a rotary table (17) is installed on an output shaft of the steering engine (16), a suction pipe (18) is fixedly arranged on the end face of the rotary table (17), a suction disc is fixedly arranged at the lower port of the suction pipe (18), and the upper port of the suction pipe (18) is connected with a working port of a vacuum pump through a hose.

2. The novel plane joint structure for the go robot as claimed in claim 1, wherein: the belt transmission mechanism comprises a driving belt wheel (19), a driven belt wheel (20) and a belt (21), the driving belt wheel (19) is installed on an output shaft of the first motor (2), the driven belt wheel (20) is installed on the rotating shaft (4), and the belt (21) is installed between the driving belt wheel (19) and the driven belt wheel (20).

3. The novel plane joint structure for the go robot as claimed in claim 1, wherein: two ends of the middle rod (14) are respectively and fixedly provided with an ear plate, and the two ear plates are respectively and rotatably arranged on the first fixing shaft (10) and the second fixing shaft (13).

4. The novel plane joint structure for the go robot as claimed in claim 1, wherein: the bearing seat (3) is arranged on the right side of the first motor (2).

5. The novel plane joint structure for the go robot as claimed in claim 1, wherein: the bottom plate of the bearing seat (3) is fixed on the chessboard (1) through screws.

6. The novel plane joint structure for the go robot as claimed in claim 1, wherein: the length of the first arm lever (7) is greater than that of the second arm lever (15).

7. The novel plane joint structure for the go robot as claimed in claim 1, wherein: the device also comprises a controller, wherein the controller is electrically connected with the first motor (2), the second motor (6) and the vacuum pump.

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