CN108806118A - It is a kind of that loose time adjustment doll machine gripper grip system and its control method are grabbed according to gripper - Google Patents
It is a kind of that loose time adjustment doll machine gripper grip system and its control method are grabbed according to gripper Download PDFInfo
- Publication number
- CN108806118A CN108806118A CN201810759540.6A CN201810759540A CN108806118A CN 108806118 A CN108806118 A CN 108806118A CN 201810759540 A CN201810759540 A CN 201810759540A CN 108806118 A CN108806118 A CN 108806118A
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- gripper
- doll machine
- grip
- time
- doll
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 238000001514 detection method Methods 0.000 claims abstract description 18
- 210000000078 claw Anatomy 0.000 claims abstract description 14
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F17/00—Coin-freed apparatus for hiring articles; Coin-freed facilities or services
- G07F17/32—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for games, toys, sports, or amusements
- G07F17/34—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for games, toys, sports, or amusements depending on the stopping of moving members in a mechanical slot machine, e.g. "fruit" machines
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Toys (AREA)
Abstract
Loose time adjustment doll machine gripper grip system and its control method are grabbed according to gripper the present invention relates to a kind of, including doll machine main body, control terminal, drive module, timing module, voltage detection module, wherein control terminal is connected with doll machine main body, and doll machine gripper claw is controlled by drive module, timing module is used to open up into the gripper claw of doll machine the time progress timing picked up and judges whether doll machine gripper grip changes, and the timely adjustment grip of original grip is returned to by control terminal adjustment doll machine and is avoided since grip is too strong and the excessively weak Experience Degree for leading to user declines.
Description
Technical field
It is the invention belongs to systems approach field, more particularly to a kind of that loose time adjustment doll machine gripper is grabbed according to gripper
Grip system and its control method.
Background technology
Doll machine before being taken into use, is required for carrying out adjusting appropriate to the grasp force of gripper.Not only to grab unavoidably
Take it is inner it is excessive caused by crawl difficulty it is excessively high, difficulty caused by avoiding grasp force too small again is too low.
However, the mechanical gripping of different doll machines in the crawl of article by following factors to can be influenced：Doll machine
Used hardware device, such as overhead traveling crane, motor, gripper lamp shape, size and its manufacturing process, the new and old journey that doll machine uses
The size for the article that doll machine is captured is spent, weight and newness degree can all influence the grip of doll machine, doll worked as when special
Machine used the grip of doll machine long afterwards can be with changing, and doll machine adjustable claw power is required for administrative staff into pedestrian at present
Work regulation motor, if when group employee real time monitoring doll machine cost is excessively high unreasonable, so needing a kind of intelligent decision baby
Whether baby's machine pawl power changes and is adjusted in time.
In the prior art, 107469342 A of document CN disclose a kind of doll machine gripper adaptive regulation method and
System, the voltage of doll machine motor carries out judging whether to be adjusted when the system after judgement crawl article by starting to fall
Doll machine gripper grip is saved, which can automatically adjust to a certain extent, when the position difference due to pawl article may cause
The too fast mistake of article is excessively slow to be fallen, so as to cause the inaccuracy of detection, so whether invention is a kind of correctly detects doll machine grip
Change and be adjusted system when very by necessary.
Invention content
Present invention aims at provide it is a kind of according to gripper grab loose time adjustment doll machine gripper grip system and its
Control method controls doll machine gripper claw by drive module, and timing module is used for the gripper claw to doll machine
It reaches the time progress timing picked up and judges whether doll machine gripper grip changes, and doll is adjusted by control terminal
Machine returns to original grip, and adjustment grip is avoided since grip is too strong and the excessively weak Experience Degree for leading to user declines in time.
It is a kind of loose time adjustment doll machine gripper grip system to be grabbed according to gripper and its control method, feature exist
In, including doll machine main body, control terminal, drive module, timing module, voltage detection module, wherein control terminal and doll
Owner's body is connected, and controls doll machine gripper claw by drive module, and timing module is used for the gripper to doll machine
Claw opens up into the time progress timing picked up and judges whether doll machine gripper grip changes, and passes through control terminal tune
Whole doll machine returns to original grip, and doll machine grip control system specifically includes following steps：
Step S1：Timing module is connected with doll machine mechanical gripping, and timing module starts when user inserts coins mechanical gripping startup
Start, stop timing when gripper is retracted to minimum and record time Ts1, is recorded when gripper is by firmly grasping to complete decontrol
Time is Tf1；
Step S2：The gripper for obtaining first group of n times is retracted to minimum time Ts1, Ts2, Ts3.......TsN and gripper
By promptly to time Tf1, Tf2, the Tf3......TfN decontroled, obtaining average voltage U1, U2 when the work of n times mechanical gripping,
U3.......UN calculates three mean values Ts, Tf, U, and by three numerical value sending value control terminals；Step S3：Detection the
The gripper of two groups of n times be retracted to minimum time Ts1, Ts2, Ts3.......TsN and gripper by promptly to relieving when
Between Tf1, Tf2, Tf3......TfN, obtain n times mechanical gripping work when average voltage U1, U2, U3.......UN, calculate three
A mean values Ts0, Tf0, U0, by judging whether doll machine gripper grip changes with first group of comparison；
Step S4：When doll machine gripper grip changes, judge that gripper grip is excessive or too small, and pass through control
The grip that terminal adjusts the voltage value adjusting doll machine gripper of doll machine returns to original state.
Wherein, voltage detection module is connected with doll machine, terminates to obtain to work whenever doll machine mechanical gripping is started to work
The electric moter voltage value of N number of doll machine is taken, and calculates average voltage level U, voltage value U, which is sent to control terminal, to be judged.
Wherein, timing module is connected with doll machine gripper, and the timing module entry condition is when doll machine machinery
Start when pawl starts to shrink at after first time timing is shunk and terminate output time Ts, is opened when doll machine gripper starts the when decontroled
Beginning timing terminates after decontroling completely, and time Ts and time Tf are sent to control terminal by output time Tf.
Wherein, according to described in step S2, according to step S3, wherein judging whether doll machine gripper grip becomes
Change also specifically includes following steps：
Step S10：The gripper for detecting second group of n times is retracted to minimum time Ts1, Ts2, Ts3.......TsN and machinery
Pawl by promptly to decontrol time Tf1, Tf2, Tf3......TfN, obtain n times mechanical gripping work when average voltage U1, U2,
U3.......UN calculates three mean values Ts0, Tf0, U0；
Step S11：Whether the time of Ts0 and Tf0 is judged more than Ts and Tf, and specific Rule of judgment is to work as Ts*95%<Ts0<Ts*
105% and Tf*95%<Tf0<Tf*105%, one of them does not meet, and re-starts detection and judges；
Step S12：Whether second group of average voltage level U0 of detection is equal to first group of average voltage after two values are eligible
Value, is judged as that doll machine gripper grip changes if equal, if unequal control terminal readjusts voltage value and returns
Again second group of numerical value is detected after to U values to be judged.
Wherein, according to described in step S4, when doll machine grip changes, when grip is excessive, control terminal adjusts electricity
Pressure is turned down, and when object for appreciation doll machine grip is too small, then control terminal adjusting voltage tunes up.
Advantageous effect：
The present invention controls doll machine gripper claw according to by drive module, and timing module is used for the gripper pawl to doll machine
Son opens up into the time progress timing picked up and judges whether doll machine gripper grip changes, and is adjusted by control terminal
Doll machine returns to original grip, and adjustment grip is avoided since grip is too strong and the excessively weak Experience Degree for leading to user declines in time.
Description of the drawings
Fig. 1 is that the present invention is a kind of grabbing loose time adjustment doll machine gripper grip system and its control method according to gripper
Flow chart.
Fig. 2 is that the present invention is a kind of grabbing loose time adjustment doll machine gripper grip system and its control method according to gripper
Grip overhaul flow chart.
Fig. 3 is that the present invention is a kind of grabbing loose time adjustment doll machine gripper grip system and its control method according to gripper
Structure chart.
Specific implementation mode
What is proposed according to embodiments of the present invention with description with reference to the accompanying drawings a kind of grabbing loose time according to gripper and adjusts baby
Baby's machine gripper grip system and its control method, including doll machine main body, control terminal, drive module, timing module, voltage
Detection module, wherein control terminal are connected with doll machine main body, and control doll machine gripper claw, meter by drive module
When module be used to open up into the gripper claw of doll machine time for picking up and carry out timing and judge that doll machine gripper grip is
It is no to change, and the timely adjustment grip of original grip is returned to by control terminal adjustment doll machine and is avoided due to grip mistake
The strong and excessively weak Experience Degree for leading to user declines.
As shown in Figs. 1-3, a kind of that loose time adjustment doll machine gripper grip system and its controlling party are grabbed according to gripper
Method, which is characterized in that including doll machine main body, control terminal, drive module, timing module, voltage detection module, wherein controlling
Terminal is connected with doll machine main body, and controls doll machine gripper claw by drive module, and timing module is used for doll
The gripper claw of machine opens up into the time progress timing picked up and judges whether doll machine gripper grip changes, and passes through
Control terminal adjustment doll machine returns to original grip, and doll machine grip control system specifically includes following steps：
Step S1：Timing module is connected with doll machine mechanical gripping, and timing module starts when user inserts coins mechanical gripping startup
Start, stop timing when gripper is retracted to minimum and record time Ts1, is recorded when gripper is by firmly grasping to complete decontrol
Time is Tf1；
Step S2：The gripper for obtaining first group of n times is retracted to minimum time Ts1, Ts2, Ts3.......TsN and gripper
By promptly to time Tf1, Tf2, the Tf3......TfN decontroled, obtaining average voltage U1, U2 when the work of n times mechanical gripping,
U3.......UN calculates three mean values Ts, Tf, U, and by three numerical value sending value control terminals；Step S3：Detection the
The gripper of two groups of n times be retracted to minimum time Ts1, Ts2, Ts3.......TsN and gripper by promptly to relieving when
Between Tf1, Tf2, Tf3......TfN, obtain n times mechanical gripping work when average voltage U1, U2, U3.......UN, calculate three
A mean values Ts0, Tf0, U0, by judging whether doll machine gripper grip changes with first group of comparison；
Step S4：When doll machine gripper grip changes, judge that gripper grip is excessive or too small, and pass through control
The grip that terminal adjusts the voltage value adjusting doll machine gripper of doll machine returns to original state.
Described in step S2, according to step S3, wherein it is also specific to judge whether doll machine gripper grip changes
Include the following steps：
Step S10：The gripper for detecting second group of n times is retracted to minimum time Ts1, Ts2, Ts3.......TsN and machinery
Pawl by promptly to decontrol time Tf1, Tf2, Tf3......TfN, obtain n times mechanical gripping work when average voltage U1, U2,
U3.......UN calculates three mean values Ts0, Tf0, U0；
Step S11：Whether the time of Ts0 and Tf0 is judged more than Ts and Tf, and specific Rule of judgment is to work as Ts*95%<Ts0<Ts*
105% and Tf*95%<Tf0<Tf*105%, one of them does not meet, and re-starts detection and judges；
Step S12：Whether second group of average voltage level U0 of detection is equal to first group of average voltage after two values are eligible
Value, is judged as that doll machine gripper grip changes if equal, if unequal control terminal readjusts voltage value and returns
Again second group of numerical value is detected after to U values to be judged.
Voltage detection module is connected with doll machine, whenever the start-up operation of doll machine mechanical gripping is N number of to work end acquisition
The electric moter voltage value of doll machine, and average voltage level U is calculated, voltage value U, which is sent to control terminal, to be judged, timing module
It is connected with doll machine gripper, the timing module entry condition is to start for the first time when doll machine gripper starts to shrink at
Timing terminates output time Ts after shrinking, and starts to terminate after timing is decontroled completely when doll machine gripper starts the when decontroled,
Time Ts and time Tf are sent to control terminal by output time Tf, according to step S4, when doll machine grip changes
When grip is excessive control terminal adjust voltage turn down, when play doll machine grip it is too small when then control terminal adjust voltage tune
Greatly.
Claims (5)
1. a kind of grabbing loose time adjustment doll machine gripper grip system and its control method according to gripper, which is characterized in that
Including doll machine main body, control terminal, drive module, timing module, voltage detection module, wherein control terminal and doll owner
Body is connected, and controls doll machine gripper claw by drive module, and timing module is used for the gripper claw to doll machine
It opens up into the time progress timing picked up and judges whether doll machine gripper grip changes, and baby is adjusted by control terminal
Baby's machine returns to original grip, and doll machine grip control system specifically includes following steps：
Step S1：Timing module is connected with doll machine mechanical gripping, and timing module starts when user inserts coins mechanical gripping startup
Start, stop timing when gripper is retracted to minimum and record time Ts1, is recorded when gripper is by firmly grasping to complete decontrol
Time is Tf1；
Step S2：The gripper for obtaining first group of n times is retracted to minimum time Ts1, Ts2, Ts3.......TsN and gripper
By promptly to time Tf1, Tf2, the Tf3......TfN decontroled, obtaining average voltage U1, U2 when the work of n times mechanical gripping,
U3.......UN calculates three mean values Ts, Tf, U, and by three numerical value sending value control terminals；Step S3：Detection the
The gripper of two groups of n times be retracted to minimum time Ts1, Ts2, Ts3.......TsN and gripper by promptly to relieving when
Between Tf1, Tf2, Tf3......TfN, obtain n times mechanical gripping work when average voltage U1, U2, U3.......UN, calculate three
A mean values Ts0, Tf0, U0, by judging whether doll machine gripper grip changes with first group of comparison；
Step S4：When doll machine gripper grip changes, judge that gripper grip is excessive or too small, and pass through control
The grip that terminal adjusts the voltage value adjusting doll machine gripper of doll machine returns to original state.
2. a kind of as described in claim 1 grab loose time adjustment doll machine gripper grip system and its control according to gripper
Method, the voltage detection module are connected with doll machine, whenever the start-up operation of doll machine mechanical gripping is N number of to work end acquisition
The electric moter voltage value of doll machine, and average voltage level U is calculated, voltage value U, which is sent to control terminal, to be judged.
3. a kind of as described in claim 1 grab loose time adjustment doll machine gripper grip system and its control according to gripper
Method, which is characterized in that the timing module is connected with doll machine gripper, and the timing module entry condition is to work as doll
Start when machine gripper starts to shrink at after first time timing is shunk and terminate output time Ts, when doll machine gripper starts to put
Start to terminate after timing is decontroled completely when opening, time Ts and time Tf are sent to control terminal by output time Tf.
4. a kind of as described in claim 1 grab loose time adjustment doll machine gripper grip system and its control according to gripper
Method, according to step S2, according to step S3, wherein it is also specific to judge whether doll machine gripper grip changes
Include the following steps：
Step S10：The gripper for detecting second group of n times is retracted to minimum time Ts1, Ts2, Ts3.......TsN and machinery
Pawl by promptly to decontrol time Tf1, Tf2, Tf3......TfN, obtain n times mechanical gripping work when average voltage U1, U2,
U3.......UN calculates three mean values Ts0, Tf0, U0；
Step S11：Whether the time of Ts0 and Tf0 is judged more than Ts and Tf, and specific Rule of judgment is to work as Ts*95%<Ts0<Ts*
105% and Tf*95%<Tf0<Tf*105%, one of them does not meet, and re-starts detection and judges；
Step S12：Whether second group of average voltage level U0 of detection is equal to first group of average voltage after two values are eligible
Value, is judged as that doll machine gripper grip changes if equal, if unequal control terminal readjusts voltage value and returns
Again second group of numerical value is detected after to U values to be judged.
5. a kind of as described in claim 1 grab loose time adjustment doll machine gripper grip system and its control according to gripper
Method, which is characterized in that according to step S4, control terminal is adjusted when grip is excessive when doll machine grip changes
Voltage is turned down, and when object for appreciation doll machine grip is too small, then control terminal adjusting voltage tunes up.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810759540.6A CN108806118B (en) | 2018-07-11 | 2018-07-11 | Method for adjusting grabbing force of mechanical claw of doll machine according to grabbing-loosening time of mechanical claw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810759540.6A CN108806118B (en) | 2018-07-11 | 2018-07-11 | Method for adjusting grabbing force of mechanical claw of doll machine according to grabbing-loosening time of mechanical claw |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108806118A true CN108806118A (en) | 2018-11-13 |
| CN108806118B CN108806118B (en) | 2020-10-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810759540.6A Active CN108806118B (en) | 2018-07-11 | 2018-07-11 | Method for adjusting grabbing force of mechanical claw of doll machine according to grabbing-loosening time of mechanical claw |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116839953A (en) * | 2023-06-12 | 2023-10-03 | 广东星云开物科技股份有限公司 | Doll machine clamping detection method and device, electronic equipment and storage medium |
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| CN207008804U (en) * | 2017-11-18 | 2018-02-13 | 李知进 | Intelligent robot gift apparatus |
| CN108079569A (en) * | 2018-02-01 | 2018-05-29 | 广州扫地僧信息科技有限公司 | A kind of multi-functional doll machine and grab doll's equipment |
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2018
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05228851A (en) * | 1992-02-12 | 1993-09-07 | Mirai Ind Co Ltd | Knock-out punching tool |
| KR20080007056A (en) * | 2006-07-14 | 2008-01-17 | 가부시키가이샤 소피아 | Game machine |
| JP2009182958A (en) * | 2008-01-31 | 2009-08-13 | Pantech & Curitel Communications Inc | User domain subscription method for digital rights management and its information exchange method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116839953A (en) * | 2023-06-12 | 2023-10-03 | 广东星云开物科技股份有限公司 | Doll machine clamping detection method and device, electronic equipment and storage medium |
| CN116839953B (en) * | 2023-06-12 | 2024-03-12 | 广东星云开物科技股份有限公司 | Doll machine clamping detection method and device, electronic equipment and storage medium |
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| Publication number | Publication date |
|---|---|
| CN108806118B (en) | 2020-10-27 |
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Effective date of registration: 20200911 Address after: 215000 A, building 88, Beijing East Road, Taicang Development Zone, Suzhou, Jiangsu Applicant after: Pagman Technology (Taicang) Co.,Ltd. Address before: 536009 Guangxi Zhuang Autonomous Region Beihai Yinhai District Gold Coast Avenue 45 Beibu Gulf Science and Technology Entrepreneurship Center 4 blocks 0905 Applicant before: BEIHAI HESI TECHNOLOGY Co.,Ltd. |
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