JP2005312899A - Object holding device and game machine using the same - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a premium holding device capable of recognizing the holding condition of the object without exception regardless of the size of holding arms. <P>SOLUTION: The object holding device having a plurality of holding arms 48 for holding the premium openably and closably secured to an elevating base portion 46 in excess condition and an opening and closing driver 49 opening and closing the gripping arms 48 to performing holding operation has a distance measuring sensor 52 disposed in the base portion 46 directing downward and a control portion determining that the premium is held when there is difference between distances before descending and directly after elevating, measuring distances right below after the completion of descending of the holding arms and directly after the starting of elevating of the same by the distance measuring sensor 52 by measuring the distance to the distal end of the holding arms, 48 by the distance measuring sensor 52 before starting descending movement of the holding arms 48 in full opening state. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to an object gripping device and a game device that uses the same to grip a prize and move it in a payout direction to acquire a prize.

  A prize acquisition game device such as a so-called crane game machine for the purpose of acquiring a prize stored inside the case is interesting in its operation, and the player's willingness to challenge by using characters and the like that are popular with the prize Therefore, it is installed and widely used in various game centers and shopping centers.

  Such a prize acquisition game device acquires a prize by moving a prize gripping device called a catcher to a prize position by a moving device, gripping and hanging the prize, transporting it to a prize paying exit, and dropping it. It has come to be able to do.

  For example, this prize gripping device can open and close a pair of gripping arms biased by a spring in the closing direction by an opening / closing drive mechanism to grip a prize.

  Such a prize gripping device makes it easy to grasp a prize if the gripping force is strong, while it becomes difficult to grasp a prize if the gripping force becomes weak. Become.

Therefore, a proposal has been made to change the gripping force of the gripping arm by driving the gripping force varying means capable of automatically changing the gripping force with which the gripping arm grabs the prize by the drive control means (patent) Reference 1).
JP 2002-239209 A

  In such a prize gripping device, the gripping force can be automatically adjusted without opening the cover and manually adjusting the gripping force, but there is no standard for adjusting the gripping force. There is a problem that it is difficult to make subtle adjustments.

  In addition, the drive means for opening and closing the grip arm and the drive control means for changing the grip force are indispensable, and there is a problem that the structure is complicated and the cost is high.

  In addition, in such a prize gripping device, if it is possible to recognize that a prize has been gripped, it is possible to give a spread on the game. However, in such a prize acquisition game apparatus, the prize to be handled may be changed. Yes, if the size, weight, shape, etc. of the prize is changed, the size of the grip arm may be changed accordingly, so the grip state is recognized regardless of the size of the grip arm. There is a problem that it is difficult to do.

  An object of the present invention is to provide a prize gripping device that can uniformly recognize the gripping state of a prize regardless of the size of the gripping arm.

  Another object of the present invention is to provide a prize gripping apparatus that can perform delicate adjustment of gripping force, and can simplify the structure and reduce the cost.

(1) In order to achieve the above object, an object gripping device of the present invention includes a plurality of gripping arms for gripping an object attached to a base unit that can be raised and lowered in a suspended state.
An object gripping device having an opening / closing drive device that opens and closes the gripping arm to perform a gripping operation,
A distance measuring sensor provided downward in the base portion;
The distance to the tip of the gripping arm is measured by the distance measuring sensor before starting the lowering operation when the gripping arm is in the closed state. A control unit that determines that the object is gripped when there is a difference between the distance before the descent and immediately after the rise,
It is characterized by having.

  According to the present invention, the distance to the tip of the gripping arm is measured by the distance measuring sensor before starting the lowering operation in the fully closed state, and the distance immediately below the distance from the distance measuring sensor immediately after the start of the lifting after the lowering of the gripping arm is measured. Measurement can be performed regardless of the size of the gripping arm.

  Then, it is possible to reliably recognize the gripping state of the object by determining that the object is gripped when there is a difference between the distance before the descending and the distance immediately after the ascent.

(2) Another object gripping device of the present invention includes a plurality of gripping arms for gripping an object that are attached to a base unit that can be raised and lowered in a suspended state.
An object gripping device having an output variable opening / closing drive device that opens and closes the grip arm to perform a gripping operation;
A distance measuring sensor provided downward in the base portion;
The distance measuring sensor measures the distance to the tip of the gripping arm before the gripping arm is closed and before the lowering operation is started. After the gripping arm is lowered, the opening / closing driving device applies the gripping arm to the maximum gripping force. The distance is measured by the distance sensor immediately after the start of ascent and the distance is measured by the distance sensor. Gradually weaken the gripping force of the gripping arm by the opening / closing driving device while measuring, and if it is determined that an object has dropped from the gripping arm according to the measurement distance of the distance measuring sensor, the gripping by the opening / closing driving device when the object falls A control unit that stores a gripping force value of the arm and adjusts a gripping force of the gripping arm based on the gripping force value;
It is characterized by having.

  According to the present invention, the gripping arm is closed with the maximum gripping force, the object is gripped, the gripping force of the gripping arm is weakened by the opening / closing drive device that gradually changes the output, and the gripping arm is gripped when the object falls from the gripping arm By storing the force value and making it possible to adjust the gripping force of the gripping arm on the basis of this gripping force value, it is possible to adjust the gripping force delicately based on the gripping force value at the time of dropping, Since the opening / closing drive device with variable output is used for opening / closing the gripping arm and adjusting the gripping force, the structure can be simplified and the cost can be reduced.

(3) In the present invention, it has a storage means for setting and storing a plurality of gripping force values according to the difficulty level in advance,
A gripping force value corresponding to the difficulty level can be selected to automatically adjust the gripping force.

  With such a configuration, it is possible to easily and reliably automatically adjust the gripping force.

(4) Further, in the object gripping apparatus having the control unit of the present invention, the opening / closing drive device is
Including an electric motor that outputs a rotational driving force to the plurality of gripping arms,
A plurality of the electric motors are provided corresponding to a plurality of gripping arms,
The controller is
Control for causing each electric motor to output a rotational driving force in at least one of the opening direction and the closing direction in order to cause the gripping arm to perform an arm opening operation and an arm closing operation;
Control for supplying each electric motor with a current for outputting a rotational driving force for generating a predetermined gripping force on the gripping arm when the gripping arm grips an object;
Can be performed.

  With this configuration, it is possible to generate a gripping force on the gripping arm by the rotational driving force of the electric motor without using a spring that biases the gripping arm in the closing direction.

  Therefore, it is possible to omit the spring that urges the gripping arm in the closing direction, which has been used to move the gripping arm in the closing direction, and generates a weak gripping force that is less than the urging force of the spring. Can do. Further, the grip force can be adjusted in detail by controlling the current supplied to the electric motor.

  Further, according to such a configuration, it is possible to drive and control a plurality of gripping arms separately. For example, it is possible to control each of the plurality of electric motors to supply a current for outputting a rotational driving force that generates a different gripping force.

  Therefore, by adopting a configuration in which the gripping force of each of the plurality of gripping arms can be set differently, for example, when the gripping force of the right gripping arm is increased, the right and left gripping arms perform an object gripping operation. The object gripping device can not grip the object, but can perform the action of rolling the object to the left, and if the left gripping arm is strengthened, the action of rolling the object to the right can be performed. Can be controlled in various ways.

  In this case, for example, a DC motor can be used as the electric motor, and it is preferable that the rotational driving force required for the initial movement is extremely small.

(5) Another object gripping device of the present invention is an object gripping device that grips an object by opening and closing a plurality of arms,
A distance measuring sensor for measuring a distance to an object in a predetermined area;
Storage means for storing a distance to the arm tip portion measured by the distance measuring sensor in a state where the arm is closed;
A determination unit that compares a distance measured by the distance measuring sensor with a distance stored in the storage unit and determines whether or not a predetermined condition is satisfied;
When the determination means determines that the predetermined condition is satisfied, it recognizes that the object is gripped, and when it determines that the predetermined condition is not satisfied, it recognizes that the object is not gripped. .

  According to the present invention, it is possible to easily and reliably recognize whether or not the arm is holding an object by measuring the distance to the tip of the arm with the distance measuring sensor.

(6) According to still another object gripping device of the present invention, an object gripping device for gripping an object by opening and closing a plurality of arms,
Gripping force adjusting means for changing the gripping force of the arm;
Control means for controlling the gripping force adjusting means;
A distance measuring sensor for measuring a distance to an object in a predetermined area;
Storage means for storing the distance to the arm tip portion measured by the distance measuring sensor in a state where the arm is closed;
A determination means for comparing a distance measured by the distance measuring sensor with a distance stored in the storage means and determining whether or not a predetermined condition is satisfied;
The control means controls the gripping force adjusting means to gradually weaken the gripping force of the arm while the judgment means judges that the predetermined condition is satisfied after the object is gripped. When it is determined that the predetermined condition is not satisfied, the gripping force value at that time is stored.

  According to the present invention, it is possible to adjust the gripping force of the arm on the basis of the stored value by storing the gripping force value when it is determined by the determining means that the predetermined condition is not satisfied.

(7) In the present invention, it has a gripping force setting means for setting the gripping force value stepwise with reference to the gripping force value stored by the control means,
After the setting by the gripping force setting unit, the control unit can control the gripping force adjusting unit according to the set gripping force value.

  With such a configuration, the gripping force can be easily controlled according to the gripping force value set by the gripping force setting unit.

  (8) And it is possible to configure a game device for acquiring a prize that can adjust the acquisition by adjusting the gripping force using such an object gripping device.

  Embodiments of the present invention will be described below with reference to the drawings.

  1-7 is a figure which shows the prize holding device which concerns on one embodiment of this invention.

1. FIG. 1 is an external view showing a crane game machine as a prize acquisition game using the prize gripping apparatus according to the present embodiment.

  In the crane game machine 10, a substantially upper half of the housing 12 is surrounded by a transparent plate 14 such as an acrylic plate, for example, and a game space 16 is formed therein, and the floor of the game space 16 is placed with prizes. Field 18 is designated.

  A prize payout opening 20 is provided in a part of the prize placing field 18, and a prize takeout opening 22 communicating with the prize payout opening 20 is provided in the lower front portion of the housing 12.

  In addition, a plurality of prizes 24 are placed on the prize placement field 18, and in the upper part of the game space 16, a prize gripping apparatus 26 for gripping the prize 24 and the prize gripping apparatus 26 are suspended and moved. A moving mechanism 28 is provided, and an operation unit 30 is provided on the front surface of the housing 12.

  Note that a control unit 32 that integrally controls the operation of the crane game machine 10 is provided inside the housing 12.

  The prize gripping device 26 is located at the lower end of the moving mechanism 28 and is openable and closable so that the prize 24 on the prize placement field 18 can be gripped.

  The moving mechanism 28 is movable along the X-axis rail 34 and the Y-axis rail 36 in the X- and Y-axis directions (left and right, front-rear direction), and is connected to the prize gripping device 26 via an elastic member 38. The prize gripping device 26 can be moved up and down in the Z-axis direction (vertical direction) by winding and unwinding the wire 39 in the elastic member 38.

  The operation unit 30 includes a coin insertion slot 40, a start button 42 for starting a game, and an operation button 44 for moving the prize gripping device 26.

  Then, the player presses the start button 42 of the operation unit 30 and operates the operation button 44 to move the prize gripping device 26 from the home position in the X axis direction and the Y axis direction by moving the moving mechanism 28. When the positioning in the XY-axis direction is performed, the prize gripping device 26 automatically starts the lowering operation in the Z-axis direction under the control of the control unit 32, and after the completion of the lowering, the prize gripping operation is performed.

  Thereafter, the gripped prize 24 is lifted and conveyed toward the prize payout exit 20, and the prize 24 held just above the prize payout exit 20 is opened.

  Then, the prize 24 is dropped to the prize payout opening 20 so that the player can take out the prize 24 from the prize takeout opening 22, and then the prize gripping device 26 automatically returns to the home position.

2. Next, the details of the prize gripping device 26 will be described with reference to FIGS.

  2 is a schematic front view of the prize gripping device 26 with the gripping arm closed, FIG. 3 is a schematic front view of the prize gripping device 26 with the gripping arm open, and FIG. It is a schematic front view which shows the holding | gripping arm of the state hold | gripped.

  The prize gripping device 26 includes a base portion 46, a gripping arm 48, an opening / closing driving device 49, and a distance measuring sensor 52.

  The base portion 46 is connected to the lower end of the expansion / contraction member 38 (see FIG. 1), and can be moved up and down by winding and unwinding the wire 39.

  A pair of gripping arms 48 is for gripping the prize 24, and is attached to both sides of the base portion 46 in a suspended state so as to be pivotable in an opening direction and a closing direction around a rotation shaft 54, and the lower end side is opened and closed. .

  The grip arm 48 can be attached to and detached from the base portion 46 with a mounting pin 55 so that it can be exchanged for a grip arm 48 of a different size or shape depending on the size, weight or shape of the prize 24. It has become.

  The opening / closing drive device 49 causes the gripping arm 48 to perform operations in the opening direction and the closing direction, and generates a predetermined gripping force. A pair of opening / closing driving devices 49 are provided corresponding to the pair of gripping arms 48.

  Each opening / closing drive device 49 includes an electric motor 50 and a reduction gear 56.

  The electric motor 50 outputs a rotational driving force in a direction in which each gripping arm 48 opens and a rotational driving force in a closing direction, and outputs an arbitrary rotational driving force in accordance with a supplied current value. is there. In the present embodiment, for example, a DC motor can be used as the electric motor 50, and it is preferable that the rotational driving force required for the initial movement is extremely small.

  The reduction gear 56 is provided coaxially with the first gear 56a attached to the output shaft of the electric motor 50, the second gear 56b meshing with the first gear 56a, and the second gear 56b. A third gear 56c and a fourth gear 56d that meshes with the third gear 56c are provided, and a gripping arm 48 is attached to the fourth gear 56d. Accordingly, when each electric motor 50 outputs a rotational driving force, the gripping arm 48 is directly driven via the first gear 56a to the fourth gear 56d.

  Therefore, by adjusting the current value supplied to the electric motor 50, an arbitrary rotational driving force can be output and the gripping force generated by the gripping arm 48 can be adjusted in detail. In addition, since the gripping force is generated in the gripping arm by the rotational driving force of the electric motor 50 without using the spring that biases the gripping arm 48 in the closing direction, the spring can be omitted and the biasing force of the spring can be omitted. The following weak gripping force can be generated.

  Thus, the opening / closing drive device 49 also has a function as a gripping force adjusting means.

  The opening direction restricting portion 60 and the closing direction restricting portion 62 are in contact with the contact members 64 provided on the gripping arm 48, respectively, and restrict the pivoting operation of the gripping arm 48 in the opening direction and the closing direction. In the present embodiment, when the contact member 64 contacts the opening direction restricting portion 60, the gripping arm 48 is fully opened, and when the contact member 64 contacts the closing direction restricting portion 62, the gripping arm 48 is fully closed.

  Although not shown, the rotary shaft 54 is provided with a volume as an angle detection unit 66 so that the rotation angle of the grip arm 48 can be detected.

  The distance measuring sensor 52 is provided downward on the lower surface of the base portion 46 so as to measure the distance to an object in the lower region of the base portion 46, and grips the prize 24 with the gripping arm 48 closed. The distance A from the distance measuring sensor 52 to the tip of the gripping arm 48 when not, and the distance B to the prize 24 in a state where the prize 24 is gripped can be measured.

  By comparing the distance to the tip of the grip arm 48 measured by the distance measuring sensor 52 with the distance to the prize 24, it is possible to recognize whether or not the prize 24 is being gripped.

  Thus, even when the size of the gripping arm is changed in response to a change in the size, weight or shape of the prize 24, the gripping state of the prize can be recognized uniformly regardless of the size of the gripping arm. It becomes possible.

  For example, when using a weight sensor that recognizes a prize by detecting the weight in order to recognize the gripping state of the prize, it is difficult to recognize a light object, and when the size of the gripping arm is changed, It is necessary to change the threshold value by using the sensor, and when using the area sensor to recognize whether there is a prize in the detection area, it is necessary to change the sensitivity by changing the size of the gripping arm. On the other hand, in the case of using the distance measuring sensor 52, the change of the size of the gripping arm 48 can be surely performed without changing the threshold value or the sensitivity. Become.

3. Functional Block of the Prize Holding Device FIG. 5 is a block diagram showing a schematic configuration for realizing the function of the prize holding device.

  The prize gripping apparatus includes a processing unit 70, an information storage medium 72 serving as a storage unit, an opening / closing driving device 49, a distance measuring sensor 52, and an angle detection unit 66.

  The processing unit 70 performs various processes such as control of the entire apparatus and instruction instruction to each block in the apparatus, and functions thereof are CPU (CISC type, RISC type), DSP, ASIC (gate array). Etc.) or a given program.

  The processing unit 70 includes a control unit 74 and a storage unit 76.

  The control unit 74 includes a control unit 78, a determination unit 80, and a gripping force setting unit 82.

  The control means 78 controls each electric motor 50 to output a rotational driving force in at least one of the opening direction and the closing direction in order to cause the gripping arm 48 to perform an arm opening operation and an arm closing operation. Control is performed to supply each electric motor 50 with a current for outputting a rotational driving force that causes the gripping arm 48 to generate a predetermined gripping force when the premium 48 grips the prize 24.

  Further, the control means 78 and the determination means 80 cause the distance measuring sensor 52 to measure the distance A to the tip of the gripping arm 24 before starting the lowering operation with the gripping arm 48 closed, and after the gripping arm 48 has been lowered. The distance sensor 52 measures the distance B immediately below the start of the ascent, and when it is determined that there is a difference between the distance A and the distance B, a process of recognizing that the prize 24 is grasped is performed. It has become.

  Further, the control means 78 and the determination means 80 cause the distance measuring sensor 52 to measure the distance A to the tip of the gripping arm 48 before starting the lowering operation with the gripping arm 48 closed, and after the gripping arm 48 has been lowered. Then, the gripping arm 48 is closed with the maximum gripping force by the opening / closing drive device 49, and the distance B immediately below is measured by the distance measuring sensor 52 immediately after the start of ascent, and it is determined that the difference between the distance A and the distance B is more than a predetermined value. Then, after recognizing that the prize 24 has been gripped, while the distance is measured by the distance measuring sensor 52, the gripping force of the grip arm 48 by the opening / closing drive device 49 is gradually weakened, and the distance measured by the distance measuring sensor 52 is greater than or equal to a predetermined value. If it is determined that there is no difference between the two, it is recognized that the prize 24 has fallen from the gripping arm 48, and the gripping force value of the gripping arm 48 by the opening / closing drive device 49 when the prize is dropped is stored.

  Here, in the present embodiment, the gripping force value of the gripping arm 48 by the opening / closing drive device 49 when the prize is dropped is determined based on the current value supplied to the electric motor 50 when the prize is dropped.

  Specifically, the current value supplied to the electric motor 50 and the gripping force value generated when the current value is supplied according to the rotation angle of the gripping arm 48 detected by the angle detection unit 66 are: The control unit 74 refers to the data table and refers to the data table, and the gripping force corresponding to the rotation angle of the gripping arm 48 when the prize is dropped and the current value supplied to the electric motor 50 is stored. Remember the value.

  The data table is prepared for each type of gripping arm 48 to be attached.

  The gripping force setting means 82 sets the gripping force value of the gripping arm 48 step by step with reference to the stored gripping force value. And the control means 78 performs drive control of the electric motor 50 based on the set gripping force value.

  The storage unit 76 is configured to store a measurement result by the distance measuring sensor 52, a gripping force value when the prize 24 is dropped in the opening / closing drive device 49, and the like.

  The information storage medium 72 is an information storage medium that can be read by a computer and that can be used by a computer, and stores information such as various programs and data.

  In the present embodiment, information for recognizing a prize gripping state, information for adjusting the gripping force of the gripping arm 48, and the like are stored.

  In addition, a plurality of gripping force values corresponding to the difficulty level are stored in advance, and the gripping force value corresponding to the difficulty level can be selected to set the gripping force.

4). Process Flow for Gripping Force Adjustment FIG. 6 shows a schematic flowchart for adjusting the gripping force of the gripping arm.

  Setting of gripping force is started by switch input or the like (S1).

  First, the gripping arm 48 is closed by the opening / closing drive device 49, and the distance A to the tip of the gripping arm 48 in the closed state is measured and stored by the distance measuring sensor 52 (S2).

  Next, the gripping force of the gripping arm 48 is set to a maximum value (S3), a gripping operation is performed, and a process of gripping a prize placed at a predetermined position with the gripping arm 48 with the maximum gripping force is performed (S4).

  At this time, a prize is placed in a predetermined position in the prize placement field 18 in advance.

  Then, after the control unit 74 performs a process of moving the grip arm 48 to a predetermined position, the control unit 74 performs a process of gripping a prize by performing a gripping operation with a maximum gripping force value, and raises the grip arm 48 to display a prize. Perform the lifting process.

  The prize may be gripped by the grip arm 48 at the home position without moving the grip arm 48.

  In this case, the prize is arranged so that the grasping arm 48 can grasp the prize during the grasping operation of the grasping arm 48.

  Next, gripping force adjustment processing is started to gradually weaken the gripping force of the gripping arm 48 gripping with the maximum gripping force (S5), and the distance to the prize gripped by the distance measuring sensor 52 is also started. And the measured actual value and the previously stored distance A to the gripping arm 48 are compared to determine whether or not there is a difference greater than a predetermined value, that is, whether or not the prize is gripped. Perform (S6).

  Then, when it is determined that the compared distance has a difference of a predetermined value or more, that is, when a prize is gripped, a process of reducing the grip force of the grip arm 48 by a predetermined value is performed (S7), and there is no difference of a predetermined value or more. That is, steps S6 and S7 are repeated until it is determined that the prize is not gripped.

  If it is determined in step S6 that the prize is not gripped, a process of storing the gripping force value that has been adjusted and output at that time is performed (S8).

  Next, the gripping force value of the gripping arm 48 is determined according to the adjustment option (S9).

  In this case, the adjustment option is selected from multi-level difficulty levels such as “Very difficult, difficult, normal, easy, very easy” by setting separately.

  For example, depending on the level of difficulty, “very difficult, -2 steps weaker than the standard observed gripping force value”, “difficult, −1 step weaker than the standard observed gripping force value”, “normal, standard Predetermined setting tables such as “observation gripping force value”, “easy, +1 step stronger than reference observation gripping force value”, “very easy, +2 step stronger than reference observation gripping force value” are stored in the information storage medium 72. And the gripping force value is automatically set correspondingly.

  As a result, the gripping force of the gripping arm 48 can be automatically adjusted based on the gripping force of the gripping arm 48 when the prize 24 is dropped, and the gripping force value can be finely adjusted based on the gripping force value at the time of dropping. It can be carried out.

5. The same gripping force generation control regardless of the rotation position of the gripping arm The control means 78 of the present embodiment is a rotational driving force that generates a predetermined gripping force on the gripping arm 48 when the gripping arm 48 grips the prize 24 ( P) is controlled to supply electric current to each electric motor 50. The generated gripping force (F) includes the own weight gripping force (W) generated by the own weight of the gripping arm 48. Therefore, the gripping force (F) is
F = P + W
It becomes.

Accordingly, the rotational driving force (P) output to the electric motor 50 to generate the gripping force (F) is the differential gripping force (f) obtained by subtracting the own weight gripping force (W) from the generated gripping force (F). The differential gripping force (f) is
f = F−W
It can be obtained as follows.

  However, the self-weight gripping force (W) generated by the self-weight of the gripping arm 48 differs depending on the rotation angle of the gripping arm 48, and becomes maximum when the gripping arm 48 is in the fully open state, and decreases as the gripping arm 48 approaches the fully closed state. Therefore, when the gripping arm 48 is closed, if a constant current is supplied to each electric motor 50 and a constant rotational driving force is output, the gripping force generated depends on the rotation angle of the gripping arm 48. It will be different.

  Therefore, in the present embodiment, the control means 78 performs gripping according to the rotation angle (θ) detected by the angle detection unit 66 from the set gripping force (F) when performing the arm closing operation. Control for supplying each electric motor 50 with a current (I) for outputting a rotational driving force (P) for generating a differential gripping force (f) obtained by subtracting the self-weight gripping force (W ′) generated by the weight of the arm 48. I do.

  Therefore, according to the present embodiment, by controlling the driving of the electric motor 50 in consideration of the self-weight gripping force (W ′) corresponding to the rotation angle, the gripping force corresponding to the set gripping force value ( F) can be accurately generated regardless of the rotation angle of the gripping arm 48.

  Hereinafter, an example of a procedure for calculating the self-weight gripping force (W ′) corresponding to the rotation angle (θ) of the gripping arm 48 will be described with reference to FIG. FIG. 7 is a diagram showing the relationship between the rotation angle (θ) of the gripping arm 48 and its own weight gripping force (W ′) according to the rotation angle. In the present embodiment, the gripping arm 48 is fully opened when the rotation angle (θ) from the fully closed state becomes 45 °. 7 represents a predetermined point of the gripping arm 48 when the rotation angle is θ, and the weight X of the gripping arm 48 is applied to the point X.

Therefore, the self-weight gripping force (W ′) corresponding to the rotation angle (θ) of the gripping arm 48 is
W ′ = f (θ) = Asinθ
As a function of Here, A is a predetermined coefficient determined based on the own weight g of the gripping arm 48 and the length m of the gripping arm 48, and is changed according to the type of the gripping arm 48 to be attached.

From the above, the differential gripping force (f) according to the rotation angle (θ) is
f = F−f (θ)
Therefore, the control means 78 generates the rotational driving force (P) that generates the differential gripping force (f) corresponding to the rotation angle (θ) calculated in this way. What is necessary is just to make it output to the electric motor 50 according to this rotation angle ((theta)).

  Then, according to the electric motor 50 to be used, the current value (I) for outputting the rotational driving force (P) for generating the differential gripping force (f) corresponding to the rotation angle (θ) is obtained by the gripping arm 48. The current value (I) corresponding to the differential gripping force (f) corresponding to the rotation angle (θ) is stored in the information storage medium 94 in correspondence with the type of rotation. Control to supply to the electric motor 50 is performed according to the moving angle (θ).

  For example, when the set generated gripping force (F) is 100 gram weight, when the rotation angle of the gripping arm 48 is 30 °, the differential gripping force (100−f (30 °) gram weight) ( Control is performed to supply the electric motor 50 with the current value (I) that generates f). When the gripping arm 48 is further rotated and the rotation angle is 15 °, the electric motor 50 generates a current value (I) that generates a differential gripping force (f) of 100-f (15 °) gram weight. Control to supply to.

  Thus, according to the present embodiment, for example, the rotation angle when the gripping arm 48 grips the prize 24 varies depending on the size of the prize 24 or the gripping position of the same prize 24. Even so, the prize 24 can be gripped with the same set gripping force.

  In the present embodiment, when the set generated gripping force (F) is larger than the own weight gripping force f (θ), that is, when the differential gripping force (f) is positive, the electric motor 50 is closed. The rotational driving force in the direction is output at the corresponding current value (I), and the gripping arm 48 is moved in the closing direction. On the other hand, when the set generated gripping force (F) is smaller than the self-weight gripping force f (θ), that is, when the differential gripping force (f) is negative, the electric motor 50 has a rotational driving force in the opening direction. Is output at the corresponding current value (I), and the gripping arm 48 is moved in the closing direction.

  Therefore, according to the present embodiment, even if the set generated gripping force (F) becomes larger or smaller than the own weight gripping force f (θ) depending on the rotational angle of the gripping arm 48, The same gripping force (F) can be generated regardless of the angle.

  The current value for outputting the rotational driving force for generating a predetermined gripping force may be stored as a data table corresponding to the gripping force to be generated for each type of gripping arm 48 to be attached. You may make it calculate by a calculation each time.

6). Other Embodiments The present invention is not limited to the above-described embodiments, and can be modified into various forms within the scope of the gist of the present invention.

  For example, in the above-described embodiment, a plurality of gripping force values corresponding to the difficulty level are set in advance to adjust the gripping force, and the gripping force value is selected according to the difficulty level to automatically adjust the gripping force. However, the present invention is not limited to this example, and it may be set manually.

  Further, although the opening / closing drive device has a function as gripping force adjusting means using an electric motor or the like, a device having a similar function may be provided separately from the opening / closing drive device.

  In the above-described embodiment, the case where a prize is gripped has been described. However, an object gripping apparatus that grips another object may be used.

1 is an external view showing a crane game machine using a prize gripping device according to an embodiment of the present invention. It is a schematic front view of the prize gripping device with the gripping arm fully closed. It is a schematic front view of the prize gripping device with the gripping arm fully opened. It is a schematic front view which shows the holding arm of the state which hold | gripped the prize. It is a functional block diagram of a prize holding device. It is a flowchart for adjusting the holding force of a holding arm. It is a figure which shows the relationship between the rotation angle of a holding arm, and the own weight holding | grip force according to a rotation angle.

Explanation of symbols

26 prize gripping device 46 base portion 48 gripping arm 49 opening / closing drive device 50 electric motor 52 distance measuring sensor 66 angle detection portion 74 control portion

Claims (8)

A plurality of gripping arms for gripping an object attached in a suspended state so as to be openable and closable on a base portion that can be raised and lowered;
An object gripping device having an opening / closing drive device that opens and closes the gripping arm to perform a gripping operation,
A distance measuring sensor provided downward in the base portion;
The distance to the tip of the gripping arm is measured by the distance measuring sensor before starting the lowering operation when the gripping arm is in the closed state. A control unit that determines that the object is gripped when there is a difference between the distance before the descent and immediately after the rise,
An object gripping device characterized by comprising: A plurality of gripping arms for gripping an object attached in a suspended state so as to be openable and closable on a base portion that can be raised and lowered;
An object gripping device having an output variable opening / closing drive device that opens and closes the grip arm to perform a gripping operation;
A distance measuring sensor provided downward in the base portion;
The distance measuring sensor measures the distance to the tip of the gripping arm before the gripping arm is closed and before the lowering operation is started. After the gripping arm is lowered, the opening / closing driving device applies the gripping arm to the maximum gripping force. The distance is measured by the distance sensor immediately after the start of ascent and the distance is measured by the distance sensor. Gradually weaken the gripping force of the gripping arm by the opening / closing driving device while measuring, and if it is determined that an object has dropped from the gripping arm by the measurement distance of the distance measuring sensor, the gripping by the opening / closing driving device when the object falls A control unit that stores a gripping force value of the arm and adjusts a gripping force of the gripping arm based on the gripping force value;
An object gripping device characterized by comprising: In claim 2,
A storage means for setting and storing a plurality of gripping force values according to the difficulty level in advance;
An object gripping apparatus, wherein a gripping force value corresponding to the difficulty level is selected and gripping force is automatically adjusted. In claim 2 or 3,
The opening / closing drive device comprises:
Including an electric motor that outputs a rotational driving force to the plurality of gripping arms,
A plurality of the electric motors are provided corresponding to a plurality of gripping arms,
The controller is
Control for causing each electric motor to output a rotational driving force in at least one of the opening direction and the closing direction in order to cause the gripping arm to perform an arm opening operation and an arm closing operation;
Control for supplying each electric motor with a current for outputting a rotational driving force for generating a predetermined gripping force on the gripping arm when the gripping arm grips an object;
An object gripping device characterized in that: An object gripping device that grips an object by opening and closing a plurality of arms,
A distance measuring sensor for measuring a distance to an object in a predetermined area;
Storage means for storing a distance to the arm tip portion measured by the distance measuring sensor in a state where the arm is closed;
A determination unit that compares a distance measured by the distance measuring sensor with a distance stored in the storage unit and determines whether or not a predetermined condition is satisfied;
When the determination means determines that the predetermined condition is satisfied, it recognizes that the object is gripped, and when it determines that the predetermined condition is not satisfied, it recognizes that the object is not gripped. Object gripping device. An object gripping device that grips an object by opening and closing a plurality of arms,
Gripping force adjusting means for changing the gripping force of the arm;
Control means for controlling the gripping force adjusting means;
A distance measuring sensor for measuring a distance to an object in a predetermined area;
Storage means for storing the distance to the arm tip portion measured by the distance measuring sensor in a state where the arm is closed;
A determination means for comparing a distance measured by the distance measuring sensor with a distance stored in the storage means and determining whether or not a predetermined condition is satisfied;
The control means controls the gripping force adjusting means to gradually weaken the gripping force of the arm while the judgment means judges that the predetermined condition is satisfied after the object is gripped. An object gripping apparatus that stores a gripping force value at that time when it is determined that a predetermined condition is not satisfied. In claim 5 or 6,
Gripping force setting means for setting the gripping force value stepwise with reference to the gripping force value stored by the control means;
The said control means controls the said grip force adjustment means according to the set grip force value after the setting by the said grip force setting means, The object gripping apparatus characterized by the above-mentioned.   A game device using the object gripping device according to claim 1.

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