There is no poker without gambling
I haven't played Uno in ages, but perhaps the most fundamental mechanic in poker is the gambling. There is a modicum of skill in games like 5-card draw, where at least the player has a choice of what cards to discard, but in the most popular poker games, like Texas Hold'em or 5- and 7-card stud, the best hand is deterministic (slightly over-simplified because the way the cards get distributed is obviously modified as people fold, but given that no one knows what the next cards are poker is still effectively deterministic).
Poker is only fun because although the best hand is fait accompli to an omniscient observer the winner is not; players can only know and play the odds of what's to come, which they do with their bets. It is the betting and the concomitant broadcast of information (or mis-information) to the other players that makes the game, and without it Poker is like war (the card came) for adults: rote and pointless.
Now the "chips" don't have to be money, as others have suggested, but they do have to have real value. Just playing with a stack of chips that hold no actual value to the players is meaningless because there's no disincentive to call every raise, which eliminates the ability to bluff and thus reduces the game to one played without chips.
In practice what I've found works best amongst adults is to pick a buy-in that's enough money that people care a little about losing it, but not enough that they're going to be bent out of shape if they go home empty handed--say $10-20. Then to ensure games don't end after 10 games, put a raise limit of say 25 cents and a re-raise limit of once per round. This naturally limits pot sizes and extends the game and works fairly well in practice.
With kids (assuming you're willing to teach them how to play poker at all) a good system could involve one where chips can be purchased for doing extra chores and chips can be cashed in for privileges--with a side agreement on the chip value of various household tasks and treats. Then the kids can tend to their "bank" between settings and potentially learn something about delayed gratification.