CN107469342A - The gripper grip adaptive regulation method and system of doll machine - Google Patents
The gripper grip adaptive regulation method and system of doll machine Download PDFInfo
- Publication number
- CN107469342A CN107469342A CN201710456610.6A CN201710456610A CN107469342A CN 107469342 A CN107469342 A CN 107469342A CN 201710456610 A CN201710456610 A CN 201710456610A CN 107469342 A CN107469342 A CN 107469342A
- Authority
- CN
- China
- Prior art keywords
- gripper
- voltage
- drive circuit
- driving voltage
- article
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
- A63F9/00—Games not otherwise provided for
- A63F9/30—Capturing games for grabbing or trapping objects, e.g. fishing games
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Multimedia (AREA)
- Manipulator (AREA)
Abstract
The invention provides the gripper grip adaptive regulation method and system of a kind of doll machine, methods described includes：S1, article is positioned over below the gripper of doll machine, provides a higher initial boost voltage to motor by gripper drive circuit, gripper is caught article；S2, the driving voltage for constantly reducing the output of gripper drive circuit, until article drops from gripper；S3, the moment dropped in crawl thing, the driving voltage of record gripper drive circuit output；S4, the constant output voltage that the driving voltage recorded in S3 is set as to gripper drive circuit.The present invention to the driving voltage of gripper adjust in real time and tested by software program, and the grip of gripper is adjusted automatically using program, it is automatically adjusted to optimal grip.The present invention must rely on experience to carry out manual adjustment before solving the problems, such as, improve the accuracy and stability of grip regulation, improve work effect efficiency.
Description
Technical field
The present invention relates to game equipment field, and in particular to a kind of gripper grip adaptive regulation method of doll machine and
System.
Background technology
Doll machine before being taken into use, is required for carrying out appropriate regulation to the grasp force of gripper.It should avoid capturing
It is too low that difficulty is captured caused by power is excessive, it is too big that difficulty is captured caused by avoiding grasp force too small again.
However, the gripper of different doll machines can be influenceed to the grasp force of article by following factors：Doll machine
Used hardware device, such as overhead traveling crane, motor, the shape of gripper, size and its manufacturing process；Doll machine uses new and old
Degree；The size of the article that doll machine is captured, material, the newness degree of weight and article.Above all of factor all can shadow
Ring the grip Adjusted Option to doll machine gripper.
The grasp force regulation of doll machine gripper in the market is all to rely on site administrator's manual adjustment motor
Voltage, and achieved the goal by each one experience and observation.The operator of doll machine is needed in the different time for not
Same hardware device, and different doll machine inner matters, carry out manual adjustment regularly.Basic method is aiming at every
Platform machine, the different composite factor with reference to more than, operator's rule of thumb constantly motor of adjustment control doll machine gripper
Voltage, the grip of the gripper of motor control is reached an optimum value.But there is very for the operating process of this mode
More factors of instability, regulation result is caused to have artificial error and there can not be the problem of unified standard, largely
Accurate assurance of the operator to Operating profit of machine can be influenceed, so as to bring very big puzzlement to operator.
The content of the invention
In view of this, it is necessary to for problems of the prior art, there is provided a kind of gripper grip of doll machine is certainly
Adjusting method and system are adapted to, realizes the grip automatic adjusument of gripper.
To achieve the above object, the present invention uses following technical scheme：
A kind of gripper grip adaptive regulation method of doll machine, the doll machine include power supply, cabinet and are installed on
Overhead traveling crane in cabinet, overhead traveling crane lower section are provided with gripper, gripper and a motor connection, and the power supply passes through gripper and drives electricity
Road is electrically connected with motor, and the grip size of the gripper is exported to the big of the driving voltage of motor by gripper drive circuit
Small decision；
Methods described includes：
S1, article is positioned over below the gripper of doll machine, by gripper drive circuit to motor provide one compared with
High initial boost voltage, makes gripper catch article；
S2, the driving voltage for constantly reducing the output of gripper drive circuit, until article drops from gripper；
S3, the moment dropped in crawl thing, the driving voltage of record gripper drive circuit output；
S4, the constant output voltage that the driving voltage recorded in S3 is set as to gripper drive circuit.
Further, in addition to S5, circulation perform S1 to S3 more times, to record multiple driving voltages, to the multiple drive
Dynamic voltage is averaged, and the average value is set as to the constant output voltage of gripper drive circuit.
Further, in S2, by setting photoelectric sensor in doll machine, whether detection article falls from gripper
Fall；The photoelectric sensor is arranged at below gripper.
Further, in S2, the driving voltage of gripper drive circuit output is linearly persistently reduced.
Further, in S2, the reduction speed of driving voltage is less than 0.5V/s.
A kind of gripper grip self-adaption regulation system of doll machine, the doll machine include power supply, cabinet and are installed on
Overhead traveling crane in cabinet, overhead traveling crane lower section are provided with gripper, gripper and a motor connection, and the power supply passes through gripper and drives electricity
Road is electrically connected with motor, and the grip size of the gripper is exported to the big of the driving voltage of motor by gripper drive circuit
Small decision；
The gripper grip self-adaption regulation system includes：
Driving voltage adjustment module, driving voltage value to motor is exported for adjusting gripper drive circuit；Adjusting
Before beginning, gripper drive circuit is exported a higher initial boost voltage, gripper is caught article；Start in regulation
Afterwards, the driving voltage of gripper drive circuit output is constantly reduced；
Whether article drops detection module, dropped for detecting the article that gripper has captured, when article drops, to electricity
Logging modle is pressed to send signal；
Voltage logging modle, for receive article drop detection module transmission signal after, record gripper driving electricity
The driving voltage of road output；
Voltage setting module, for the driving voltage recorded in voltage logging modle to be set as into gripper drive circuit
Constant output voltage.
Further, the voltage logging modle is additionally operable to record driving voltage adjustment module and article and dropped detection module
Multiple driving voltages caused by after being run multiple times；
The voltage setting module is additionally operable to average to the multiple driving voltages recorded in voltage logging modle, and will
The average value is set as the constant output voltage of gripper drive circuit.
Further, the article detection module that drops is arranged at photoelectricity in doll machine and below gripper for one
Sensor.
Further, the driving voltage adjustment module linearly persistently reduces gripper driving electricity after regulation starts
The driving voltage of road output.
Further, in the driving voltage adjustment module, the speed for adjusting driving voltage is less than 0.5V/s.
The present invention to the driving voltage of gripper adjust in real time and tested by software program, using program automatically to gripper
Grip be adjusted, it is automatically adjusted to optimal grip.The present invention must manually be adjusted before solving by experience
The problem of section, the accuracy and stability of grip regulation are improved, improve work effect efficiency.
Brief description of the drawings
Fig. 1 is the structural representation of doll machine in the prior art.
Fig. 2 is a kind of schematic flow sheet of the gripper grip adaptive regulation method of doll machine provided by the invention.
Embodiment
Technical scheme is described in detail below in conjunction with accompanying drawing and specific embodiment.
Embodiment 1
As shown in figure 1, the doll machine includes power supply, cabinet 1 and the overhead traveling crane 2 being installed in cabinet 1, the lower section of overhead traveling crane 2 is pacified
Equipped with gripper 3, the motor connection of gripper 3 and one, the power supply is electrically connected with by gripper drive circuit and motor, described
The grip size of gripper 3 is exported by gripper drive circuit to be determined to the size of the driving voltage of motor.
As shown in Fig. 2 specifically, a kind of gripper grip adaptive regulation method bag of doll machine provided by the invention
Include：
S1, article is positioned over below the gripper of doll machine, by gripper drive circuit to motor provide one compared with
High initial boost voltage, makes gripper catch article；
S2, the driving voltage for constantly reducing the output of gripper drive circuit, until article drops from gripper；
S3, the moment dropped in crawl thing, the driving voltage of record gripper drive circuit output；
S4, the constant output voltage that the driving voltage recorded in S3 is set as to gripper drive circuit.
S5, circulation perform S1 to S3 more times, and to record multiple driving voltages, the multiple driving voltage is averaged,
The average value is set as to the constant output voltage of gripper drive circuit.
Specifically, it is by setting photoelectric sensor in doll machine, whether detection article falls from gripper in S2
Fall.In the present embodiment, the photoelectric sensor is arranged at below gripper.
As an improvement, in S2, the driving voltage of gripper drive circuit output is linearly persistently reduced.Wherein, drive
The speed of voltage-regulation is unsuitable too fast, and the fine delay for avoiding dropping due to article has influence on the accuracy of voltage record.Specifically
Ground, the reduction speed of the driving voltage are less than 0.5V/s.
Embodiment 2
Present invention also offers a kind of gripper grip self-adaption regulation system of doll machine, it includes：
Driving voltage adjustment module, driving voltage value to motor is exported for adjusting gripper drive circuit；Adjusting
Before beginning, gripper drive circuit is exported a higher initial boost voltage, gripper is caught article；Start in regulation
Afterwards, the driving voltage of gripper drive circuit output is constantly reduced；
Whether article drops detection module, dropped for detecting the article that gripper has captured, when article drops, to electricity
Logging modle is pressed to send signal；
Voltage logging modle, for receive article drop detection module transmission signal after, record gripper driving electricity
The driving voltage of road output；
Voltage setting module, for the driving voltage recorded in voltage logging modle to be set as into gripper drive circuit
Constant output voltage.
Further, the voltage logging modle is additionally operable to record driving voltage adjustment module and article and dropped detection module
Multiple driving voltages caused by after being run multiple times；
The voltage setting module is additionally operable to average to the multiple driving voltages recorded in voltage logging modle, and will
The average value is set as the constant output voltage of gripper drive circuit.
In the present embodiment, the article detection module that drops is arranged in doll machine for one and below gripper
Photoelectric sensor.
As an improvement, the driving voltage adjustment module after regulation starts, linearly persistently reduces gripper driving electricity
The driving voltage of road output.Wherein, the speed of driving voltage regulation is unsuitable too fast, avoids the fine delay shadow to be dropped due to article
Ring the accuracy to voltage record.Specifically, in the driving voltage adjustment module, the speed for adjusting driving voltage is less than
0.5V/s。
The present invention to the driving voltage of gripper adjust in real time and tested by software program, using program automatically to gripper
Grip be adjusted, it is automatically adjusted to optimal grip.The present invention must manually be adjusted before solving by experience
The problem of section, the accuracy and stability of grip regulation are improved, improve work effect efficiency.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more specific and detailed, but simultaneously
Therefore the limitation to the scope of the claims of the present invention can not be interpreted as.It should be pointed out that for one of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. the gripper grip adaptive regulation method of a kind of doll machine, it is characterised in that the doll machine includes power supply, cabinet
With the overhead traveling crane being installed in cabinet, overhead traveling crane lower section is provided with gripper, gripper and a motor connection, and the power supply passes through machinery
Pawl drive circuit is electrically connected with motor, and the grip size of the gripper is exported the driving to motor by gripper drive circuit
The size of voltage determines；
Methods described includes：
S1, article is positioned over below the gripper of doll machine, provided by gripper drive circuit to motor one higher
Initial boost voltage, gripper is set to catch article；
S2, the driving voltage for constantly reducing the output of gripper drive circuit, until article drops from gripper；
S3, the moment dropped in crawl thing, the driving voltage of record gripper drive circuit output；
S4, the constant output voltage that the driving voltage recorded in S3 is set as to gripper drive circuit.
2. according to the method for claim 1, it is characterised in that also perform S1 to S3 more times including S5, circulation, it is more to record
Individual driving voltage, the multiple driving voltage is averaged, the average value is set as the constant defeated of gripper drive circuit
Go out voltage.
3. according to the method for claim 1, it is characterised in that in S2, by setting photoelectric sensor in doll machine,
Whether detection article drops from gripper；The photoelectric sensor is arranged at below gripper.
4. according to the method for claim 1, it is characterised in that in S2, linearly persistently reduce gripper drive circuit
The driving voltage of output.
5. according to the method for claim 4, it is characterised in that in S2, the reduction speed of driving voltage is less than 0.5V/s.
6. the gripper grip self-adaption regulation system of a kind of doll machine, it is characterised in that the doll machine includes power supply, cabinet
With the overhead traveling crane being installed in cabinet, overhead traveling crane lower section is provided with gripper, gripper and a motor connection, and the power supply passes through machinery
Pawl drive circuit is electrically connected with motor, and the grip size of the gripper is exported the driving to motor by gripper drive circuit
The size of voltage determines；
The gripper grip self-adaption regulation system includes：
Driving voltage adjustment module, driving voltage value to motor is exported for adjusting gripper drive circuit；Start in regulation
Before, gripper drive circuit is exported a higher initial boost voltage, gripper is caught article；After regulation starts,
Constantly reduce the driving voltage of gripper drive circuit output；
Whether article drops detection module, dropped for detecting the article that gripper has captured, and when article drops, remembers to voltage
Record module and send signal；
Voltage logging modle, for receive article drop detection module transmission signal after, record gripper drive circuit it is defeated
The driving voltage gone out；
Voltage setting module, for the driving voltage recorded in voltage logging modle to be set as into the constant of gripper drive circuit
Output voltage.
7. system according to claim 6, it is characterised in that the voltage logging modle is additionally operable to record driving voltage tune
Section module and article drop detection module be run multiple times after caused by multiple driving voltages；
The voltage setting module is additionally operable to average to the multiple driving voltages recorded in voltage logging modle, and this is put down
Mean set is the constant output voltage of gripper drive circuit.
8. system according to claim 6, it is characterised in that the article detection module that drops is arranged at doll machine for one
Photoelectric sensor interior and below gripper.
9. system according to claim 6, it is characterised in that the driving voltage adjustment module is after regulation starts, line
Property persistently reduce the driving voltage of gripper drive circuit output.
10. system according to claim 9, it is characterised in that in the driving voltage adjustment module, adjust driving voltage
Speed be less than 0.5V/s.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710456610.6A CN107469342B (en) | 2017-06-16 | 2017-06-16 | Adaptive adjustment method and system for mechanical claw holding force of doll machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710456610.6A CN107469342B (en) | 2017-06-16 | 2017-06-16 | Adaptive adjustment method and system for mechanical claw holding force of doll machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107469342A true CN107469342A (en) | 2017-12-15 |
| CN107469342B CN107469342B (en) | 2020-07-07 |
Family
ID=60594802
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710456610.6A Expired - Fee Related CN107469342B (en) | 2017-06-16 | 2017-06-16 | Adaptive adjustment method and system for mechanical claw holding force of doll machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107469342B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107344361A (en) * | 2017-06-26 | 2017-11-14 | 广州雪暴电子科技有限公司 | The gripper grip dynamic self-adapting adjusting method and system of doll machine |
| CN108806118A (en) * | 2018-07-11 | 2018-11-13 | 北海和思科技有限公司 | It is a kind of that loose time adjustment doll machine gripper grip system and its control method are grabbed according to gripper |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10295929A (en) * | 1997-04-30 | 1998-11-10 | Ryowa Kk | Crane game machine |
| JP2000051514A (en) * | 1998-06-03 | 2000-02-22 | Sega Enterp Ltd | Clamping device and bonus obtaining game device |
| US20050179273A1 (en) * | 2004-02-17 | 2005-08-18 | Yi-Chiang Yang | Pawl for move and catch machine |
| CN101683564A (en) * | 2008-09-27 | 2010-03-31 | 吴俊霆 | Gripping game machine |
| CN205272006U (en) * | 2016-01-02 | 2016-06-01 | 上海众平科技有限公司 | Make -up machinery people dynamics monitoring gripper |
| CN105920836A (en) * | 2016-06-21 | 2016-09-07 | 郑嘉雯 | Game clamping jaw having hanging measurement function |
| CN106799741A (en) * | 2017-03-16 | 2017-06-06 | 上海云线娃娃信息科技有限公司 | Manipulator with cam turntable and torsion spring |
-
2017
- 2017-06-16 CN CN201710456610.6A patent/CN107469342B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10295929A (en) * | 1997-04-30 | 1998-11-10 | Ryowa Kk | Crane game machine |
| JP2000051514A (en) * | 1998-06-03 | 2000-02-22 | Sega Enterp Ltd | Clamping device and bonus obtaining game device |
| US20050179273A1 (en) * | 2004-02-17 | 2005-08-18 | Yi-Chiang Yang | Pawl for move and catch machine |
| CN101683564A (en) * | 2008-09-27 | 2010-03-31 | 吴俊霆 | Gripping game machine |
| CN205272006U (en) * | 2016-01-02 | 2016-06-01 | 上海众平科技有限公司 | Make -up machinery people dynamics monitoring gripper |
| CN105920836A (en) * | 2016-06-21 | 2016-09-07 | 郑嘉雯 | Game clamping jaw having hanging measurement function |
| CN106799741A (en) * | 2017-03-16 | 2017-06-06 | 上海云线娃娃信息科技有限公司 | Manipulator with cam turntable and torsion spring |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107344361A (en) * | 2017-06-26 | 2017-11-14 | 广州雪暴电子科技有限公司 | The gripper grip dynamic self-adapting adjusting method and system of doll machine |
| CN108806118A (en) * | 2018-07-11 | 2018-11-13 | 北海和思科技有限公司 | It is a kind of that loose time adjustment doll machine gripper grip system and its control method are grabbed according to gripper |
| CN108806118B (en) * | 2018-07-11 | 2020-10-27 | 帕格曼科技(太仓)有限公司 | Method for adjusting grabbing force of mechanical claw of doll machine according to grabbing-loosening time of mechanical claw |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107469342B (en) | 2020-07-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204707485U (en) | Weeding apparatus | |
| CN109079468B (en) | A kind of cutting agency for axle sleeve assembling | |
| CN107469342A (en) | The gripper grip adaptive regulation method and system of doll machine | |
| CN108514150B (en) | Tobacco leaf winnowing wind speed control method and system | |
| CN206194697U (en) | Type silicon chip or battery piece detect sorter in succession | |
| CN104020791A (en) | Reclaiming flow stability control device and method of coal stockyard | |
| CN107344361A (en) | The gripper grip dynamic self-adapting adjusting method and system of doll machine | |
| CN104787552A (en) | Cell delivery mechanism | |
| CN209291655U (en) | A kind of closed-loop tension control mechanism | |
| CN203155557U (en) | Universal tealeaf winnower | |
| CN205701516U (en) | Diode classifier | |
| CN203385832U (en) | Loading testboard for hub motor of electric bicycle | |
| CN207336378U (en) | A kind of device of automatic detection rice phenotypic parameter | |
| CN206407659U (en) | A kind of automated packing system | |
| CN110558607A (en) | Cut tobacco conveying control system and method for ZJ17 cigarette making machine | |
| CN207390551U (en) | Pneumatic type automatic feeding machine | |
| CN206265829U (en) | A kind of motor shaft feeding device | |
| CN204583718U (en) | A kind of matrimony vine automatic grader | |
| CN208580718U (en) | Simple visual wafer is classified pick device automatically | |
| CN207464638U (en) | A kind of spinning head automatic assembling device | |
| CN1668829A (en) | Method and device for regulating the rotational speed of a turbine connected to an electric power supply mains by means of a generator | |
| CN105431028A (en) | Feed appliance for chip mounter | |
| CN205109856U (en) | Plumbous separating centrifuge of zinc | |
| CN205187242U (en) | Automatic supply screw device | |
| CN205470202U (en) | Attached loading attachment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200707 Termination date: 20210616 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |