JP2006346247A - Object gripper - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an object gripper, surely making fine adjustment from the large gripping force of a gripping arm to the small one. <P>SOLUTION: This object gripper includes: a gripper body 20 for gripping a prize; a plurality of gripping arms 9 rotatably hung and held on the gripper body 20; a torsion spring 23 for applying the gripping force for gripping the prize to the gripping arms 9; and a gripping force adjusting mechanism 25 for adjusting the gripping force of the gripping arms 9 applied by the torsion spring 23, wherein the gripping force adjusting mechanism 25 includes: a first regulating means 26 supporting the support position of one end 28 side of the torsion spring 23 projected from a torsional part 24 to vary the length from the center of the torsional part 24; and a second regulating means 27 supporting the other end 33 side of the torsion spring 23 projected from the torsional part 24 to vary the initial relative angle to one end 28, and the first regulating means 26 and the second regulating means 27 are separately provided on the gripper body 20 and the gripping arms 9, respectively. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an object gripping device, and more particularly to an object gripping device for gripping a prize in a prize acquisition game device.

  Conventionally, from the state where the prize gripping device is stopped at the back side of the housing with the pair of gripping arms moved to both end positions, the prize gripping device is advanced to the target prize position, and one gripping arm is moved to the target prize. If you move to one side and move the other gripping arm to the other side of the desired prize, the lowering position of the gripping arm is determined, the prize gripping device is lowered, and the gripping arm is lowered to the proper position. There is a crane game apparatus in which the lowering operation is stopped and the gripping arm is caused to perform the gripping operation.

  In such a crane game apparatus, the grip arm moves close to the grip arm and presses the prize, and an opening force is applied to the grip arm by the prize.

  Therefore, a coil spring that applies a force in the closing direction to the force in the opening direction is provided to apply a gripping force to the gripping arm.

Since the gripping force of this gripping arm affects the prize acquisition rate, it is possible to adjust the mounting length of the coil spring with the wing nut with respect to the mounting piece, and the elastic force of the coil spring, that is, gripping, by tightening the wing nut The gripping force of the arm can be adjusted (see Patent Document 1).
JP 2003-53021 A

  In such a gripping device in a crane game apparatus, the gripping force of the gripping arm is adjusted by adjusting the installation length of the coil spring by the wing nut. It is difficult to make fine adjustments from large to small.

  An object of the present invention is to provide an object gripping device capable of reliably performing fine adjustment from a place where the gripping force of a gripping arm is large to a small place.

To achieve the above object, an object gripping device of the present invention includes a gripping device main body for gripping an object,
A plurality of gripping arms suspended and held rotatably with respect to the gripping device body;
A torsion spring for applying a gripping force for gripping an object to the gripping arm;
A gripping force adjusting mechanism that adjusts a gripping force of the gripping arm by the torsion spring;
The gripping force adjustment mechanism is
A first restricting means configured to support a support position on one end side of the torsion spring protruding from the torsion part so as to be variable in length from the center of the torsion part;
A second restricting means configured to support the other end side of the torsion spring protruding from the torsion portion so that an initial relative angle with respect to the one end can be changed;
The first restricting means and the second restricting means are provided separately on the gripping device main body and the gripping arm, respectively.

  According to the present invention, the first restricting means and the second restricting means are separately provided on the gripping device main body and the gripping arm, respectively, and the support position on one end side of the torsion spring is moved from the center of the torsion part by the first restricting means. By supporting the length variably, the elastic force can be changed by changing the length of the torsion spring to the support position on one end side, and the other end side of the torsion spring is initially adjusted with respect to one end by the second restricting means. By supporting the relative angle so that it can be changed, it is possible to change the spring tension according to the angle on the other end, and as a result, make sure that fine adjustments are made from large to small gripping force of the gripping arm. Is possible.

  In the above and the following, the “initial relative angle” indicates a relative angle when the gripping arm is in an initial stationary state because the relative angle is changed by opening and closing of the gripping arm.

Another object gripping device of the present invention includes a gripping device main body for gripping an object,
A plurality of gripping arms suspended and held rotatably with respect to the gripping device body;
A torsion spring for applying a gripping force for gripping an object to the gripping arm;
A gripping force adjusting mechanism that adjusts a gripping force of the gripping arm by the torsion spring;
The gripping force adjustment mechanism is
A first restricting means configured to support a support position on one end side of the torsion spring protruding from the torsion part so as to be variable in length from the center of the torsion part; and provided on one of the gripping arms;
The other end side of the torsion spring protruding from the torsion part is configured to support an initial relative angle with respect to the one end so as to be changeable, and has a second restricting means provided on the other side of the gripping arm. And

  According to the present invention, in the state where the first restricting means is provided on one side of the gripping arm and the second restricting means is provided on the other side of the gripping, the supporting position on the one end side of the torsion spring is extended from the center of the torsion part by the restricting means. By variably supporting, the elastic force can be changed by changing the length of the torsion spring to the support position on one end side, and the initial relative angle with respect to the one end can be changed by the second restricting means on the other end side of the torsion spring It is possible to change the spring tension due to the change in the angle on the other end side, and as a result, it is possible to make fine adjustments reliably from large to small gripping arms. Become.

  In these inventions, the first restricting means can be formed by a slide member which is slidable with respect to the gripping device main body or the gripping arm.

  With such a configuration, it is possible to easily change the support position on the one end side of the torsion spring by the first restricting means simply by sliding the slide member.

Still another object gripping device of the present invention includes a gripping device main body for gripping an object,
A plurality of gripping arms suspended and held rotatably with respect to the gripping device body;
A torsion spring for applying a gripping force for gripping an object to the gripping arm;
A gripping force adjusting mechanism that adjusts a gripping force of the gripping arm by the torsion spring;
The gripping force adjustment mechanism is
The one end side of the torsion spring protruding from the torsion part is configured to variably support the length from the center of the torsion part, and the initial relative angle with respect to the other end of the torsion spring is variably supported. Having a regulating means configured in
The gripping force adjusting mechanism and the other end of the torsion spring are separately provided on the gripping device main body and the gripping arm, respectively.

  According to the present invention, with the gripping force adjusting mechanism and the other end of the torsion spring provided separately on the gripping device main body and the gripping arm, respectively, one end side of the torsion spring is centered on the torsion part by the regulating means of the gripping force adjustment mechanism. By variably supporting the length from, the elastic force can be changed by changing the length to the support position on one end side, and at the same time, the initial relative angle of one end of the torsion spring to the other end of the torsion spring can be changed By supporting, it becomes possible to change the spring tension due to the change of the angle on one end side of the torsion spring, and as a result, it is possible to make fine adjustments from the large to the small gripping force of the gripping arm. It becomes possible.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  1 to 5 are diagrams showing a crane game apparatus using a prize gripping apparatus according to an embodiment of an object gripping apparatus of the present invention.

  FIG. 1 is an overall perspective view of a crane game apparatus according to the present embodiment, and FIG. 2 is an enlarged perspective view of a prize gripping apparatus.

  In this embodiment, one crane 1 is provided with two crane game apparatuses 2 on the left and right, but one chassis 1 is provided with one, or three or more crane game apparatuses 2. It may be a thing.

  As shown in FIG. 1, the lower half of the housing 1 is provided with an operation button 3 and a coin insertion slot 5 of the crane game apparatus 2 at the upper part of the front face, respectively, and a prize outlet 4 is provided at the lower part of the front face. ing.

  The operation buttons 3 are the forward switch SW1, the left arm switch SW2 in the middle, and the right arm switch SW3 on the right side.

  The left arm switch SW2 and the right arm switch SW3 may be levers.

  The upper half of the housing 1 is covered with a transparent case 6 at the front and side surfaces, and two crane game apparatus 2 areas are partitioned by a partitioning portion 7 provided at the center in the left-right direction.

  The side portion 6 a of the transparent case 6 is detachably attached so that the prize K can be taken in and out from the side of the housing 1.

  A prize K is arranged on each floor portion 8 in the transparent case 6, and above the prize K, a prize gripping device 10 that grips a prize on the floor 8 by two gripping arms 9 by operating the operation buttons 3. Is provided to be movable up and down.

  In the floor portion 8, a drop opening 11 communicating with the prize outlet 4 is formed so as to be openable in the entire width direction.

  As shown in FIG. 2, in the prize gripping device 10, a left gripping arm 9a and a right gripping arm 9b are movably supported on a rail 12 provided in a horizontal direction, and the left gripping arm 9a and the right gripping arm 9b are connected to each other. By approaching and moving away, the prize is held and released.

  A claw 13 is attached to the tip of each gripping arm 9a, 9b.

  The rail 12 is covered with the cover 14.

  The prize gripping device 10 is supported by a lifting and lowering movement device (not shown) via each wire 17 in the two telescopic cylinders 16 and movable in the depth direction of the housing 1.

  As shown in FIG. 3, the prize gripping device 10 has a gripping device main body 20, and a gripping arm 9 is movably supported on a rail 12 provided on the gripping device main body 20.

  Since the prize gripping device 10 is in a bilaterally symmetric state, only the left part is shown in FIG.

  Specifically, the rail 12 has a rectangular cross-sectional shape extending in the width direction of the housing 1, and a guide portion 15 having a U-shaped cross-section that opens inward on the front wall and the rear wall of the rail 12. An arm bracket 18 that is formed and supports the grip arm 9 in a swingable manner is supported by the guide portion 15 via a roller 19.

  The rail 12 is provided with a stepping motor M on the left end side, a drive pulley 21 fixed to the shaft of the stepping motor M, and a longitudinal pulley (not shown) supported rotatably on the right end side of the rail 12. And the right gripping arm 9b can be moved to the left and right by the stepping motor M.

  Similarly, a stepping motor (not shown) is provided on the right end side of the rail 12, a drive pulley fixed to the shaft of the stepping motor, and a longitudinally driven pulley rotatably supported on the left end side of the rail 12 (Not shown) are linked via a timing belt, and the left gripping arm 9a can be moved left and right by the stepping motor on the right end side.

  At the lower end of the arm bracket 18, the upper end of the grip arm 9 is supported by a pin 22 so as to be swingable.

  Therefore, the grip arm 9 is suspended and held with respect to the gripping device main body 20 so as to be rotatable.

  Further, a torsion spring 23 for attaching a gripping force for gripping the prize K to the grip arm 9 is attached to the pin 22.

  The torsion spring 23 is attached in a state where the pin 22 penetrates the torsion part 24, and the gripping force of the gripping arm 9 by the torsion spring 23 can be adjusted by a gripping force adjusting mechanism 25.

  The gripping force adjusting mechanism 25 has a first restricting means 26 provided on the gripping arm 9 and a second restricting means 27 provided on the arm bracket 18 on the gripping device main body 20 side.

  The first restricting means 26 supports the support position on the longer end 28 side of the torsion spring 23 protruding from the torsion part 24 from the center of the torsion part 24 in a variable length. A plurality of scale holes 29 formed at predetermined intervals in the hanging direction along the gripping arm 9 and the one end 28 side of the torsion spring 23 are engaged between the pair of arm pieces 30 and one end of the torsion spring 23 On the 28th side, a locking portion 31 to the arm piece 30 for preventing the falling in the urging direction A is integrally formed, and has a slide member 32 that is slidable along the arm piece 30. .

  The second restricting means 27 supports the shorter end 33 of the torsion spring 23 protruding from the torsion part 24 so that the initial relative angle with respect to the end 28 can be changed. As shown in FIG. 18 has a pair of fan-shaped restricting pieces 34 along the rotation trajectory of the other end 33 provided at the lower end of 18, and a restricting body 35 that is between the pair of restricting pieces 34 and is rotatable about the pin 22. ing.

  The pair of restricting pieces 34 are provided with a plurality of restricting holes 36 at predetermined intervals along a rotation locus centered on the pin 22, and a pin insertion hole 37 is provided at a position corresponding to the restricting hole 36 of the restricting body 35. By rotating the body 35 and inserting the pin 38 into the pin insertion hole 37 and the restriction hole 36 at a position corresponding to the pin insertion hole 37 of the restriction body 35 and the restriction hole 36 of the restriction piece 34 at a predetermined position, The regulating body 35 is fixed, and the regulating body 35 can change the initial relative angle of the other end 33 with respect to the one end 28.

  Accordingly, the pin 38 is removed from the restriction hole 36 and the pin insertion hole 37, and the pin 38 is inserted into the predetermined restriction hole 36 and the pin insertion hole 37 with one end of the torsion spring 23 rotated by the predetermined angle restriction body 35. By doing so, the spring tension based on the set angle by the first restricting means 26 can be changed, and by sliding the slide member 32 along the arm piece 30 and stopping it at the predetermined scale hole 29 position, The elastic force according to the length to the support position can be changed by changing the support position on the one end 28 side from the center of the first restricting means 26 torsion part 24.

  For example, when the second restricting means 27 changes the angle of the other end 33 side of the torsion spring 23 in the B direction, the urging force (gripping force) in the A direction on the one end 28 side increases, and on the contrary, decreases.

  Further, when the first restricting means 26 moves the support position on the one end 28 side in the C direction, the elastic force (gripping force) decreases, and conversely increases.

  Therefore, by adjusting the first restricting means 26 and the second restricting means 27, it is possible to reliably perform fine adjustment from a place where the gripping force of the grip arm 9 is large to a small place.

  The same effect can be obtained even if the positional relationship between the one end 28 and the other end 33 of the torsion spring 23 and the first restricting means 26 and the second restricting means 27 is reversed from the illustrated example.

  Next, the operation state of such a prize holding device 10 will be described.

  First, in a state where the left grip arm 9a is positioned on the left side of the rail 12 and the right grip arm 9a is positioned on the right end of the rail 12, the advance switch SW1 is pressed to advance the prize gripping device 10 to the target prize K position.

  Next, the left arm switch SW2 is pressed to move the left grip arm 9a to the target prize K one side position.

  Next, the right arm switch SW3 is pressed to move the right grip arm 9b to the other side position of the target prize K.

  In this state, the descending position of the gripping arms 9a and 9b is determined, and the prize gripping device 10 starts to descend.

  When the gripping arms 9a and 9b are lowered to an appropriate position, the lowering operation of the prize gripping device 10 is stopped, and the gripping arms 9a and 9b are caused to perform the gripping operation.

  In this case, the gripping arms 9a and 9b are operated by the stepping motor so as to approach each other.

  Due to the proximity movement of the gripping arms 9a and 9b, the gripping arms 9a and 9b operate so as to press the prize K, and an opening direction force acts on the gripping arms 9a and 9b.

  The reaction force of the torsion spring 23 acts on the force in the opening direction, and the gripping force is applied to the gripping arms 9a and 9b.

  When the gripping arms 9a and 9b grip the prize K, the prize gripping device 10 rises and moves forward to the drop opening 11, opens the gripping arms 9a and 9b at that position and drops the prize K to the drop opening 11, It moves to the back side of the housing 1 and stops.

  FIG. 6 is a diagram showing another embodiment of the present invention.

  In this embodiment, a pair of gripping arms 41 are rotatably suspended from a gripping device main body 40 for gripping a prize, and the pair of gripping arms 41 are opened and closed by a driving device (not shown). A prize gripping device 42 that grips the prize is shown.

  In the prize gripping device 42, the torsion portion 44 of the torsion spring 43 is rotatably attached to the gripping device main body 40, and the first regulating means 46 constituting the gripping force adjusting mechanism 45 is provided on one gripping arm 41b. The second restricting means 47 is provided on the other gripping arm 41a.

  That is, the first restricting means 46 is provided with a plurality of pin holes 48 at predetermined intervals along the grip arm 41 a, and the torsion spring 43 protruding from the torsion part 44 by replacing the pins 49 in the plurality of pin holes 48. The support position on the one end 50 side is variably supported from the center of the twisted portion 44.

  Further, the second restricting means 47 is provided with a plurality of pin holes 51 at predetermined intervals in a direction intersecting the length direction of the gripping arm 41 b, and by replacing the pins 52 with respect to the pin holes 51, The other end 53 side of the projecting torsion spring 43 is supported so that the initial relative angle with respect to the one end 50 can be changed.

  Accordingly, by adjusting the change in elastic force depending on the length to the support position by the first restricting means 46 and the second restricting means 47 and the change in the spring tension due to the angle of the other end 53 with respect to the one end 50, It is possible to reliably perform fine adjustments from a large force to a small force.

  The same effect can be obtained by setting the torsion spring 43, the first restricting means 46, and the second restricting means 47 to the reverse positions of FIG.

  FIG. 7 is a diagram showing still another embodiment of the present invention.

  In this embodiment, a torsion portion 24 of a torsion spring 23 is attached to a pin 22 in which a grip arm 9 is swingably attached to an arm bracket 18 in a configuration substantially similar to the prize gripping device 10 in the first embodiment. A gripping force adjusting mechanism 60 for supporting and inserting one end 28 of the torsion part 23 is provided on the gripping arm 9 side, and the other end 33 of the torsion spring 23 is attached to the arm bracket 18 on the gripping device main body 20 side.

  The gripping force adjusting mechanism 60 includes a first restricting means configured to variably support the one end 28 side of the torsion spring 23 protruding from the torsion part 24 from the center of the torsion part 24, and the torsion spring 23. The one end 28 side of the torsion spring 23 that protrudes from the torsion part 24 is also used as a second restricting means configured to support the change of the initial relative angle with respect to the other end 33 of the torsion spring 23. A plurality of pin holes 61 are provided at a predetermined interval in a state inclined at a predetermined angle with respect to the length of the torsion spring and the length from the center of the torsion part 24 on the one end 28 side by replacing the pin 62 with the pin hole 61. The initial relative angle with respect to the other end can be changed simultaneously.

  Accordingly, only by replacing the pin 62 with respect to the pin hole 61, it is possible to reliably perform fine adjustment from a place where the gripping force of the grip arm 9 is large to a small place.

  In this case, the same effect can be obtained by fixing the one end 28 side of the torsion spring to the gripping arm 9 and providing the gripping force adjusting mechanism 60 on the other end 33 side.

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

  For example, in the first embodiment, the first restricting means may fix the other end of the torsion spring in a variable angle by directly inserting a pin into the restricting hole of the restricting piece without using a restricting body. Is possible.

  Further, the second restricting means in the first embodiment is provided with a pin hole in the pair of arm pieces without using a slide member, and the support position on the one end side of the torsion spring by replacing the pin with respect to the pin hole. Can be supported in a variable length.

1 is an overall perspective view of a crane game apparatus using a prize gripping apparatus according to an embodiment of an object gripping apparatus of the present invention. FIG. 2 is an enlarged perspective view of a prize gripping device in the crane game apparatus of FIG. 1. FIG. 3 is a partial enlarged cross-sectional view of the prize gripping device of FIGS. 1 and 2. It is an expansion partial perspective view of the 1st control means of FIG. It is sectional drawing of the 2nd control means along the VV line of FIG. It is a schematic front view of the prize holding device which concerns on other embodiment of this invention. It is a partial expanded sectional view of the gripping force adjustment mechanism part of the prize gripping apparatus which concerns on other embodiment of this invention.

Explanation of symbols

2 Crane game device 9, 9a, 9b, 41, 41a, 41b Grasping arm 10, 42 Premium gripping device 18 Arm bracket 20, 40 Grasping device main body 23, 43 Torsion spring 24, 44 Torsion part 25, 45, 60 Grasping force adjustment Mechanisms 26, 46 First restricting means 27, 47 Second restricting means 28, 50 One end 32 Slide member 33, 53 Other end

Claims (4)

A gripping device body for gripping an object;
A plurality of gripping arms suspended and held rotatably with respect to the gripping device body;
A torsion spring for applying a gripping force for gripping an object to the gripping arm;
A gripping force adjusting mechanism that adjusts a gripping force of the gripping arm by the torsion spring;
The gripping force adjustment mechanism is
A first restricting means configured to support a support position on one end side of the torsion spring protruding from the torsion part so as to be variable in length from the center of the torsion part;
A second restricting means configured to support the other end side of the torsion spring protruding from the torsion portion so that an initial relative angle with respect to the one end can be changed;
The object gripping device, wherein the first restricting means and the second restricting means are separately provided on the gripping device main body and the gripping arm, respectively. A gripping device body for gripping an object;
A plurality of gripping arms suspended and held rotatably with respect to the gripping device body;
A torsion spring for applying a gripping force for gripping an object to the gripping arm;
A gripping force adjusting mechanism that adjusts a gripping force of the gripping arm by the torsion spring;
The gripping force adjustment mechanism is
A first restricting means configured to support a support position on one end side of the torsion spring protruding from the torsion part so as to be variable in length from the center of the torsion part; and provided on one of the gripping arms;
The other end side of the torsion spring protruding from the torsion part is configured to support an initial relative angle with respect to the one end so as to be changeable, and has a second restricting means provided on the other side of the gripping arm. An object gripping device. In claim 1 or 2,
The object gripping device, wherein the first restricting means is formed by a slide member that is slidable with respect to the gripping device main body or the gripping arm. A gripping device body for gripping an object;
A plurality of gripping arms suspended and held rotatably with respect to the gripping device body;
A torsion spring for applying a gripping force for gripping an object to the gripping arm;
A gripping force adjusting mechanism that adjusts a gripping force of the gripping arm by the torsion spring;
The gripping force adjustment mechanism is
The one end side of the torsion spring protruding from the torsion part is configured to variably support the length from the center of the torsion part, and the initial relative angle with respect to the other end of the torsion spring is variably supported. Having a regulating means configured in
The object gripping device, wherein the gripping force adjusting mechanism and the other end of the torsion spring are separately provided on the gripping device main body and the gripping arm, respectively.

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