CN107469342B - Adaptive adjustment method and system for mechanical claw holding force of doll machine - Google Patents
Adaptive adjustment method and system for mechanical claw holding force of doll machine Download PDFInfo
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- CN107469342B CN107469342B CN201710456610.6A CN201710456610A CN107469342B CN 107469342 B CN107469342 B CN 107469342B CN 201710456610 A CN201710456610 A CN 201710456610A CN 107469342 B CN107469342 B CN 107469342B
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- mechanical claw
- voltage
- driving
- driving circuit
- gripper
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- 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
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- Mechanical Engineering (AREA)
- Multimedia (AREA)
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Abstract
The invention provides a self-adaptive adjusting method and a self-adaptive adjusting system for the gripping force of a mechanical claw of a doll machine, wherein the method comprises the following steps: s1, placing the article below a mechanical claw of the doll, and providing a higher initial driving voltage for a motor through a mechanical claw driving circuit to enable the mechanical claw to grab the article; s2, continuously reducing the driving voltage output by the mechanical claw driving circuit until the article falls off from the mechanical claw; s3, recording the driving voltage output by the mechanical claw driving circuit at the moment when the grabbed object falls; s4, the driving voltage recorded in S3 is set to the constant output voltage of the gripper driving circuit. The invention adjusts and checks the driving voltage of the mechanical claw in real time through a software program, and automatically adjusts the gripping force of the mechanical claw by utilizing the program so as to automatically adjust the gripping force to the optimal gripping force. The invention solves the problem that manual adjustment must be carried out by depending on experience in the past, improves the accuracy and stability of the grip force adjustment, and improves the working efficiency.
Description
Technical Field
The invention relates to the field of entertainment equipment, in particular to a self-adaptive control method and a self-adaptive control system for the gripping force of a mechanical claw of a doll machine.
Background
The doll machine needs to properly adjust the gripping force of the mechanical claw before being put into use. The too low difficulty of grabbing caused by too large grabbing force is avoided, and the too large difficulty of grabbing caused by too small grabbing force is also avoided.
However, the gripping force of the gripper of different dolls on an article can be affected by the following factors: the shape, size and manufacturing process of hardware equipment used by the doll machine, such as a crown block, a motor, a mechanical claw and the like; degree of newness of use of the doll; the size, material, weight and the freshness of the articles grabbed by the doll machine. All of the above factors affect the grip adjustment scheme of the doll's gripper.
The gripping force of the mechanical gripper of the doll machine on the market at present is adjusted manually by field management personnel, and the purpose is achieved through experience and observation of all people. The operators of dolls need to make frequent manual adjustments at different times for different hardware devices, and for different dolls' built-in items. The basic method is that aiming at each machine, the operator continuously adjusts the voltage of the motor for controlling the mechanical claw of the doll machine according to experience by combining different comprehensive factors, so that the gripping force of the mechanical claw controlled by the motor reaches an optimal value. However, the operation process of the method has a plurality of unstable factors, so that the regulation result has artificial errors and the problem that the regulation result cannot have a unified standard, and the accurate control of the operation profit of the machine operator can be influenced to a great extent, thereby bringing great troubles to the operator.
Disclosure of Invention
In view of the above, it is necessary to provide a method and a system for adaptively adjusting the gripping force of a gripper of a doll machine to achieve adaptive adjustment of the gripping force of the gripper, in order to solve the problems in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme:
a self-adaptive control method for the gripping force of a mechanical gripper of a doll machine comprises a power supply, a case and an overhead traveling crane arranged in the case, wherein the mechanical gripper is arranged below the overhead traveling crane and connected with a motor, the power supply is electrically connected with the motor through a mechanical gripper driving circuit, and the gripping force of the mechanical gripper is determined by the magnitude of driving voltage output to the motor by the mechanical gripper driving circuit;
the method comprises the following steps:
s1, placing the article below a mechanical claw of the doll, and providing a higher initial driving voltage for a motor through a mechanical claw driving circuit to enable the mechanical claw to grab the article;
s2, continuously reducing the driving voltage output by the mechanical claw driving circuit until the article falls off from the mechanical claw;
s3, recording the driving voltage output by the mechanical claw driving circuit at the moment when the grabbed object falls;
s4, the driving voltage recorded in S3 is set to the constant output voltage of the gripper driving circuit.
Further, the method comprises the step of S5, and the step of executing the steps from S1 to S3 for a plurality of times in a circulating mode to record a plurality of driving voltages, averaging the driving voltages and setting the average value as the constant output voltage of the mechanical claw driving circuit.
Further, in S2, by providing a photoelectric sensor in the doll machine, it is detected whether the article has fallen from the gripper; the photoelectric sensor is arranged below the mechanical claw.
Further, in S2, the drive voltage output from the gripper drive circuit is continuously decreased linearly.
Further, in S2, the reduction speed of the drive voltage is less than 0.5V/S.
A self-adaptive control system for the gripping force of a mechanical gripper of a doll machine comprises a power supply, a case and an overhead traveling crane arranged in the case, wherein the mechanical gripper is arranged below the overhead traveling crane and connected with a motor, the power supply is electrically connected with the motor through a mechanical gripper driving circuit, and the gripping force of the mechanical gripper is determined by the magnitude of driving voltage output to the motor by the mechanical gripper driving circuit;
the self-adaptive control system for the gripping force of the mechanical gripper comprises:
the driving voltage adjusting module is used for adjusting a driving voltage value output to the motor by the mechanical claw driving circuit; before the adjustment is started, enabling the mechanical claw driving circuit to output a higher initial driving voltage to enable the mechanical claw to grab the object; after the adjustment is started, continuously reducing the driving voltage output by the mechanical claw driving circuit;
the article falling detection module is used for detecting whether the articles grabbed by the mechanical claw fall or not and sending a signal to the voltage recording module when the articles fall;
the voltage recording module is used for recording the driving voltage output by the mechanical claw driving circuit after receiving the signal sent by the article falling detection module;
and the voltage setting module is used for setting the driving voltage recorded in the voltage recording module as the constant output voltage of the mechanical claw driving circuit.
Furthermore, the voltage recording module is also used for recording a plurality of driving voltages generated after the driving voltage adjusting module and the article falling detection module run for a plurality of times;
the voltage setting module is also used for averaging the plurality of driving voltages recorded in the voltage recording module and setting the average value as the constant output voltage of the mechanical claw driving circuit.
Further, the article drop detection module is a photoelectric sensor arranged in the doll machine and positioned below the mechanical claw.
Further, the driving voltage adjusting module linearly and continuously reduces the driving voltage output by the mechanical claw driving circuit after the adjustment is started.
Further, in the driving voltage adjusting module, the speed of adjusting the driving voltage is less than 0.5V/s.
The invention adjusts and checks the driving voltage of the mechanical claw in real time through a software program, and automatically adjusts the gripping force of the mechanical claw by utilizing the program so as to automatically adjust the gripping force to the optimal gripping force. The invention solves the problem that manual adjustment must be carried out by depending on experience in the past, improves the accuracy and stability of the grip force adjustment, and improves the working efficiency.
Drawings
Fig. 1 is a schematic diagram of a prior art doll machine.
Fig. 2 is a schematic flow chart of a method for adaptively adjusting the gripping force of a mechanical gripper of a doll machine according to the present disclosure.
Detailed Description
The technical solution of the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
Example 1
As shown in fig. 1, the doll machine includes a power supply, a machine case 1 and an overhead traveling crane 2 installed in the machine case 1, a gripper 3 is installed below the overhead traveling crane 2, the gripper 3 is connected with a motor, the power supply is electrically connected with the motor through a gripper driving circuit, and the gripping force of the gripper 3 is determined by the magnitude of driving voltage output to the motor by the gripper driving circuit.
As shown in fig. 2, in particular, the method for adaptively adjusting the gripper gripping force of a doll machine provided by the present invention comprises:
s1, placing the article below a mechanical claw of the doll, and providing a higher initial driving voltage for a motor through a mechanical claw driving circuit to enable the mechanical claw to grab the article;
s2, continuously reducing the driving voltage output by the mechanical claw driving circuit until the article falls off from the mechanical claw;
s3, recording the driving voltage output by the mechanical claw driving circuit at the moment when the grabbed object falls;
s4, the driving voltage recorded in S3 is set to the constant output voltage of the gripper driving circuit.
S5, performing S1 to S3 in a loop for a plurality of times to record a plurality of driving voltages, averaging the plurality of driving voltages, and setting the average as a constant output voltage of the gripper driving circuit.
Specifically, in S2, it is detected whether the article has fallen from the gripper by providing a photoelectric sensor in the doll. In this embodiment, the photoelectric sensor is disposed below the gripper.
As an improvement, in S2, the drive voltage output from the gripper drive circuit is continuously decreased linearly. The speed of driving voltage regulation is not suitable to be too fast, and the influence on the accuracy of voltage recording due to the small delay of article dropping is avoided. Specifically, the reduction speed of the drive voltage is less than 0.5V/s.
Example 2
The invention also provides a self-adaptive control system for the gripping force of the mechanical gripper of the doll machine, which comprises the following components:
the driving voltage adjusting module is used for adjusting a driving voltage value output to the motor by the mechanical claw driving circuit; before the adjustment is started, enabling the mechanical claw driving circuit to output a higher initial driving voltage to enable the mechanical claw to grab the object; after the adjustment is started, continuously reducing the driving voltage output by the mechanical claw driving circuit;
the article falling detection module is used for detecting whether the articles grabbed by the mechanical claw fall or not and sending a signal to the voltage recording module when the articles fall;
the voltage recording module is used for recording the driving voltage output by the mechanical claw driving circuit after receiving the signal sent by the article falling detection module;
and the voltage setting module is used for setting the driving voltage recorded in the voltage recording module as the constant output voltage of the mechanical claw driving circuit.
Furthermore, the voltage recording module is also used for recording a plurality of driving voltages generated after the driving voltage adjusting module and the article falling detection module run for a plurality of times;
the voltage setting module is also used for averaging the plurality of driving voltages recorded in the voltage recording module and setting the average value as the constant output voltage of the mechanical claw driving circuit.
In this embodiment, the article drop detection module is a photoelectric sensor disposed in the doll machine and below the gripper.
As an improvement, the driving voltage adjusting module linearly and continuously reduces the driving voltage output by the mechanical claw driving circuit after the adjustment is started. The speed of driving voltage regulation is not suitable to be too fast, and the influence on the accuracy of voltage recording due to the small delay of article dropping is avoided. Specifically, in the driving voltage adjusting module, the speed of adjusting the driving voltage is less than 0.5V/s.
The invention adjusts and checks the driving voltage of the mechanical claw in real time through a software program, and automatically adjusts the gripping force of the mechanical claw by utilizing the program so as to automatically adjust the gripping force to the optimal gripping force. The invention solves the problem that manual adjustment must be carried out by depending on experience in the past, improves the accuracy and stability of the grip force adjustment, and improves the working efficiency.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A self-adaptive control method for the gripping force of a mechanical gripper of a doll machine comprises a power supply, a case and an overhead traveling crane arranged in the case, wherein the mechanical gripper is arranged below the overhead traveling crane and connected with a motor, and the power supply is electrically connected with the motor through a mechanical gripper driving circuit;
the method comprises the following steps:
s1, placing the article below a mechanical claw of the doll, and providing a higher initial driving voltage for a motor through a mechanical claw driving circuit to enable the mechanical claw to grab the article;
s2, continuously reducing the driving voltage output by the mechanical claw driving circuit until the article falls off from the mechanical claw;
s3, recording the driving voltage output by the mechanical claw driving circuit at the moment when the grabbed object falls;
s4, the driving voltage recorded in S3 is set to the constant output voltage of the gripper driving circuit.
2. The method of claim 1, further comprising S5, cycling through S1 to S3 a plurality of times to record a plurality of driving voltages, averaging the plurality of driving voltages, and setting the average as the constant output voltage of the gripper driving circuit.
3. The method of claim 1, wherein in S2, detecting whether the article has fallen off the gripper is performed by providing a photoelectric sensor in the doll; the photoelectric sensor is arranged below the mechanical claw.
4. The method according to claim 1, wherein in S2, the drive voltage output by the gripper drive circuit is continuously decreased linearly.
5. The method according to claim 4, wherein in S2, the reduction speed of the driving voltage is less than 0.5V/S.
6. A self-adaptive control system for the gripping force of a mechanical gripper of a doll machine comprises a power supply, a case and an overhead traveling crane arranged in the case, wherein the mechanical gripper is arranged below the overhead traveling crane and connected with a motor, and the power supply is electrically connected with the motor through a mechanical gripper driving circuit;
the self-adaptive control system for the gripping force of the mechanical gripper comprises:
the driving voltage adjusting module is used for adjusting a driving voltage value output to the motor by the mechanical claw driving circuit; before the adjustment is started, enabling the mechanical claw driving circuit to output a higher initial driving voltage to enable the mechanical claw to grab the object; after the adjustment is started, continuously reducing the driving voltage output by the mechanical claw driving circuit;
the article falling detection module is used for detecting whether the articles grabbed by the mechanical claw fall or not and sending a signal to the voltage recording module when the articles fall;
the voltage recording module is used for recording the driving voltage output by the mechanical claw driving circuit after receiving the signal sent by the article falling detection module;
and the voltage setting module is used for setting the driving voltage recorded in the voltage recording module as the constant output voltage of the mechanical claw driving circuit.
7. The system of claim 6, wherein the voltage recording module is further configured to record a plurality of driving voltages generated by the driving voltage adjusting module and the article drop detecting module after a plurality of operations;
the voltage setting module is also used for averaging the plurality of driving voltages recorded in the voltage recording module and setting the average value as the constant output voltage of the mechanical claw driving circuit.
8. The system of claim 6, wherein the item drop detection module is a photoelectric sensor disposed within the doll and below the gripper.
9. The system of claim 6, wherein the drive voltage adjustment module linearly continues to decrease the drive voltage output by the gripper drive circuit after the adjustment begins.
10. The system of claim 9, wherein the drive voltage adjustment module adjusts the drive voltage at a rate of 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 |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710456610.6A CN107469342B (en) | 2017-06-16 | 2017-06-16 | Adaptive adjustment method and system for mechanical claw holding force of doll machine |
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| CN107469342A CN107469342A (en) | 2017-12-15 |
| CN107469342B true CN107469342B (en) | 2020-07-07 |
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| 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 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| 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 |
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| 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 |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI233832B (en) * | 2004-02-17 | 2005-06-11 | Yi-Chiang Yang | The ratchet is improved for the big model machine |
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2017
- 2017-06-16 CN CN201710456610.6A patent/CN107469342B/en not_active Expired - Fee Related
Patent Citations (6)
| 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 |
| 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 |
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| CN107469342A (en) | 2017-12-15 |
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