TW201825159A - Grabbing machine - Google Patents

Abstract

This invention discloses a grabbing machine which is used to solve a problem of bad grabbing experience of the conventional apparatus. The grabbing machine comprises a housing and a processor. The housing has a compartment, an electric-clamp, an operating apparatus, a camera and a monitor. The electric-clamp is movably disposed in the compartment. The operating apparatus is used to receive a plurality of operating instructions. The camera is fixed at the housing and acquires at least one image from a bottom portion of the compartment. The processor is electrically connected to the electric-clamp, the operating apparatus, the camera and the monitor, drives an operation of the electric-clamp based on the operating instructions, generates a cursor based on the information during operation of the electric-clamp, reduplicates the cursor on the image then outputs the image with the cursor reduplicated to the monitor. Thus, it can actually resolve the problem.

Description

   Grab   

The invention relates to a gripper; in particular to a gripper that can simultaneously display the relative positions of the grippers and the items to be gripped in a picture.

The conventional grasping machine can be used by users to control electric grippers to grasp items. Taking the doll grasping machine as an example, a storage room is mainly provided in the upper half of a body. A slide bar group is provided in the storage room. The slide bar group There is an electric clamp on the lower part of the base, and a control part is provided on the lower part of the base body. The control part has a joystick and a button. For an example, refer to the Republic of China Patent No. M415731 "Improvement of Track Structure of Game Machine".

The user can hold the joystick with bare hands, and use the wrist to force the joystick to a direction, and control the electric clamp to move toward the orientation until the electric clamp moves to an appropriate position, and then release the joystick and press the Button to lower the electric clamp for a gripping action, the electric clamp is raised again and moved to a falling object, and if the electric clamp already holds an item, the item can fall through the falling object to the seat Access to the bottom.

When the user controls the joystick to move the electric jig, it must be judged empirically whether the electric jig is aligned with the target to be clamped, but there is a vertical drop between the target and the electric jig. There is a visual gap between the user's visual directions. When the user observes the position of the electric fixture in different directions, he still cannot know whether the electric fixture is actually aligned with the target. If the target and the electric fixture are not properly aligned, It will lead to the failure of the gripper, which will affect the entertainment effect of the user using the gripper, and then reduce the use value of the gripper.

In view of this, it is necessary to improve the shortcomings of the foregoing prior art to meet actual needs and improve its practicality.

The invention provides an object gripper, which can simultaneously display the relative positions of the clamping jaws and the items to be clamped in one screen.

The invention discloses an object gripper, which may include: a housing provided with a container, an electric fixture, a controller, a camera and a display. The electric fixture is movably disposed in the container, and the controller Receives several kinds of control instructions, the camera is fixed to the casing, and at least one image is taken toward one bottom of the chamber; and a processor is electrically connected to the electric fixture, the controller, the camera and the display, according to The control instruction drives the electric fixture to actuate, and a cursor is generated according to the information when the electric fixture is actuated. The cursor is superimposed on the image according to the information, and the cursor is superimposed on the image and output to the display.

The electric clamp may be provided with a uniform moving component and a clamping jaw, the clamping jaw is combined with the actuating component, and the actuating component is electrically connected to the processor for driving the clamping jaw to actuate; the clamping jaw is translated to a At the extreme position, the camera can capture the image containing the item; the processor can drive the gripper to move between two opposite corners of the rectangular plane through the actuating component, and the processor can move the gripper according to when the gripper moves. The distance and time difference between the starting point and the ending point of the moving head can be used to calculate a moving speed, and the cursor can be superimposed on the image according to the moving speed; the gripper can be moved from the center of the rectangular plane to the position of one of the two opposite corners to The position of one of the two opposite corners is used as the starting point, and the position of the other one of the opposite two corners is used as the ending point. The processor may be based on the gap and time difference when the gripper moves between the starting point and the ending point. Calculate the moving speed. Thereby, the user can intuitively observe whether the position of the gripper is aligned with the article, and can fine-tune the position of the gripper more intuitively.

The storage room may have a top portion and a plurality of side portions, and the camera may be disposed on the top portion or one of the plurality of side portions to capture images toward the bottom portion; the camera may be disposed at a central position of the top portion. The display may be disposed on one side portion of the container; the plurality of side portions may include a front side portion, a rear side portion and two lateral side portions, and the display may be disposed on the rear side portion. Thereby, an image containing a panoramic view of the article can be fixedly captured, and the boundaries and contents of the image are not changed by the movement of the gripper with time, which prevents the image from changing at any time and reduces the confusion of the user's visual fine-tuning process.

The manipulator may be a touch display or a module containing a joystick and a button; the container may be provided with a falling object opening, and the falling object opening may communicate with an object taking opening through a channel, and the falling object opening An object sensor may be provided on the channel or the object extraction port, and the object sensor is electrically connected to the processor; an image pickup device may be provided on the outside of the housing, and the image sensor is electrically connected to the processor. The processor may control the image pickup device to shoot outward from the casing according to the sensing signal and output to the display; the processor is electrically connected to a communication transceiver, a speaker, and / or a light emitting module. In this way, a rich sound and light effect and entertainment method of the gripping experience can be provided to increase the gripping fun.

The lift gripper allows users to intuitively visualize the relative position of the gripper and the item to be grasped. Compared with the conventional gripper, this case can provide "what you see is what you get" gripper position information for The user more accurately adjusts the movement position of the gripper, so that the position of the gripper is actually aligned with the item to be grasped, reducing the number of failures caused by misalignment of the item and the gripper, thereby improving the record of successful gripping , Increase the user's fun in the process of grasping, can achieve "easy alignment of jaws and objects" and "improve the success rate of grasping" and other functions, when used for entertainment purposes, can improve the "success rate of conventional grasping machine" "Poor" problem can further increase the demand for use.

1‧‧‧shell

11‧‧‧Room

111‧‧‧Top

112‧‧‧ bottom

113‧‧‧ side

113a‧‧‧Front side

113b‧‧‧Rear side

113c‧‧‧side

12‧‧‧Electric fixture

121‧‧‧Actuating assembly

122‧‧‧Jaw

13‧‧‧Control

14‧‧‧Camera

15‧‧‧ Display

16‧‧‧ falling object

17‧‧‧channel

18‧‧‧ take-out mouth

2‧‧‧ processor

3‧‧‧Image picker

4‧‧‧Speaker

5‧‧‧light emitting module

6‧‧‧ communication transceiver

A‧‧‧ Items

B, B’‧‧‧Image

C‧‧‧Cursor

H‧‧‧ rectangular plane

FIG. 1: is a three-dimensional combined view of an embodiment of the gripper of the present invention.

FIG. 2 is a schematic diagram of a horizontal movement of a clamping jaw in a rectangular plane according to an embodiment of the present invention.

FIG. 3 is a schematic diagram showing an image containing an object and a cursor displayed on a display according to an embodiment of the present invention.

Fig. 4 is a schematic diagram showing an image containing articles and portraits on a display of an embodiment of the present invention.

In order to make the above and other objects, features, and advantages of the present invention more comprehensible, the following describes the preferred embodiments of the present invention and the accompanying drawings in detail, as follows: The directionality described in the entire text of the present invention Terms such as "front", "rear", "left", "right", "up (top)", "bottom (bottom)", "inside", "outside", "side", etc. are mainly referred to as additional The directions of the drawings and the directional terms are only used to assist in explaining and understanding the embodiments of the present invention, and are not intended to limit the present invention.

The “touching control” mentioned in the present invention refers to a user using a limb or a device to touch the human-machine interface of a touch screen, such as clicking or sliding. The touch behavior generates a control signal, such as the position coordinates and time of clicking or sliding, to control the behavior of a controlled object, such as controlling the movement of an electric fixture, etc., which has common knowledge in the technical field to which the present invention belongs. Can understand.

Please refer to FIG. 1, which is a three-dimensional combined view of an embodiment of the gripper of the present invention. The gripper embodiment may include a housing 1 and a processor 2. The housing 1 may be provided with a container 11, an electric clamp 12, a controller 13, a camera 14 and a display 15. The casing 1 can be made of any conventional gripper material. The receptacle 11 is located inside the casing 1 and can be used to receive at least one item A (such as a doll, an accessory, an electronic product, or a floating balloon, etc.). ), For example: the article A may be located above a bottom 121 of one of the chambers 11; the electric clamp 12 is movably disposed in the chamber 11 for clamping the article A; the controller 13 may receive several types Control instructions (such as instructions for causing the electric clamp 12 to generate translation, lowering, and holding objects) for the user to control the electric clamp 12 for action; the camera 14 can be fixed to the casing 1 and faces the chamber 11 The bottom 121 captures at least one image B, and the image B may contain the item A, but is not limited thereto.

Please refer to FIG. 1 again, the processor 2 may be disposed inside or outside the casing 1, and the processor 2 may be electrically connected to the electric clamp 12, the controller 13, the camera 14 and the display 15, and the processor 2 The electric clamp 12 can be driven according to the control instruction, and a cursor C is generated based on the information (such as moving coordinates, distance, and time) of the electric clamp 12 when it is actuated, and the cursor C is superimposed on the image B according to the information. The cursor B is superimposed on the image B and output to the display 15 for the user to preview the position of the electric fixture 12 using the display 15 so as to know whether the position of the electric fixture 12 is aligned with a target in order to improve the The probability that the target is successfully grasped by the electric clamp 12 increases the entertainment effect of the grasping process. The following describes the implementation of the foregoing embodiment by way of example, but is not limited thereto.

For example, as shown in FIG. 1, the storage chamber 11 further has a top portion 112 and a plurality of side portions 113. The plurality of side portions 113 may include a front side portion 113 a, a rear side portion 113 b, and two side portions. 113c, the side portions 113 may be made of a light-transmitting material.

In this example, as shown in FIG. 1, the electric clamp 12 may be disposed in the receiving chamber 11, and the electric clamp 12 may be provided with an actuating assembly 121 and a claw 122. The moving component 121 can be a device with a two-dimensional plane moving function, such as an electric crane that can be translated along mutually perpendicular guide rails, etc., to drive the gripper 122 to move, and the gripper 122 can be combined with the actuation component 121 The actuating component 121 can control the gripper 122 to generate different actions. For example, the gripper 122 can be moved horizontally in a rectangular plane H (as shown in FIG. 2), and the gripper 122 can also be moved in the rectangular plane H Lifting or slackening at any position in order to pick up and place the article A in the container 11.

Wherein, when the gripper 122 is translated to a limit position, for example, the gripper 122 is moved to the position of the item A that can be released for gripping, or the gripper 122 may be moved to the stroke limit of the actuation assembly 121 The position and the like may have a minimum distance between the gripper 122 and the boundary of the rectangular plane H, which can be used by the camera to capture the image B, and can also be used to obtain the information when the electric clamp 1 is operated, but it is not limited thereto. The following illustrates the implementation of the actuating assembly 121 and the clamping jaw 122, but is not limited thereto.

For example, the actuating assembly 121 may be provided with a plurality of guide rods (such as a linear guide rod or a screw) combined with a slightly higher position in the container 11, and the guide rods may guide the movement trajectory of a slide rail group. The slide rail group may be provided with a clamping jaw 122 by a body, and the clamping jaw 122 may be driven and operated by at least one power element (such as a motor, etc.), for example, the clamping jaw 122 may be driven to be horizontal in the container chamber 11 in cooperation with the slide rail. It can also cooperate with a rope to drive the clamping claw 122 to move vertically, and can cooperate with a linkage member (such as a pivot assembly) to drive several claw feet of the clamping claw 122 to operate and clamp the clamping claw 122. Article A, allowing the article A to fall freely at a specific position, but not limited to this.

Please refer to FIG. 1 again, the controller 13 may be a device with a human-machine control function, such as a touch display, or a human-machine interface device (HMI) including a joystick and buttons. The manipulator 13 may be disposed outside the housing 1. Taking a touch display as an example, the touch display may output an instruction screen (GUI) for a user to input several touch commands, such as a move command and a grip. Fetching instructions, etc., for the processor 2 to generate a movement signal according to the movement instruction, to cause the gripper 122 to translate in different directions, and to generate a gripping signal according to the gripping instruction, so that the gripper 122 is lowered and clamped. , Ascent, move to a specific position, release, etc., but not limited to this.

Please refer to FIG. 1 again. The camera 14 may be any electronic device with an image capturing function, such as a charge-coupled device (CCD). The camera 14 may be disposed in the top portion 112 or the side portions 113. For example, the camera 14 may be disposed at the center of the top portion 112 so as to capture the image B containing the panoramic view of the article A toward the bottom portion 111. The content around the boundary of the image B does not change due to the movement of the gripper 122 with time. When there is a minimum distance between the boundary of the electric clamp 12 and the rectangular plane H, such as: each time the gripper 122 moves At the position where the clamped object A can be released, the camera 14 can be made to capture the image containing the object A to prevent the image B captured by the camera 14 from containing the electric jig 12, but not limited to this.

Please refer to FIG. 1 again, the display 15 may be a device with an image display function, such as a liquid crystal screen, etc. The display 15 may be disposed on one side 153 of the receiving room 11. For example, the display 15 may It is arranged on the rear side portion 113b, and a part of the display 15 (such as a display panel) for displaying content may face the front side portion 113a so as to display an image B (as shown in FIG. 3) containing the above-mentioned article A and the cursor C, But not limited to this. The number of pixels of the image B and the area of the rectangular plane H may have an area conversion relationship, and the display angle of the image B and the shooting angle of the camera 14 may have a viewing angle conversion relationship, which belongs to the technical field to which it belongs. Those with ordinary knowledge can understand, so I won't go into details here.

Please refer to FIG. 1 again. The processor 2 can be any electronic device with data storage, calculation and signal generation functions, such as a programmable logic controller (PLC), a digital signal processor (DSP), and a micro-controller. Controller (MCU) or a circuit board with the above functions, the processor 2 is electrically connected to the electric fixture 12, the controller 13, the camera 14, and the display 15, and the processor 2 can execute a control program, and To store its required data or parameters, the processor 2 can drive the gripper 122 to move between the two opposite corners of the rectangular plane H through the actuating component 121. For example, the gripper 122 can be moved from the rectangular plane first. The center of H moves to the position of one of the two opposite corners, and the processor 2 can calculate a moving speed according to the distance and time difference between the starting point and the end point when the gripper 122 moves, such as: The position of one of the two points is used as the starting point, and the position of the other one of the two opposite corners is used as the end point. The processor 2 may calculate the movement based on the distance and time difference between the gripper 122 when the starting point and the end point move. Speed; after , The processor 2 may superimpose the cursor C on the image B according to the moving speed (for example, the processor 2 may superimpose the cursor C on the image according to the moving speed), so that the image B superimposes the cursor C After that, it is output to the display 15, but it is not limited to this.

In addition, please refer to FIG. 1 again. The container 11 of the housing 1 may be provided with a falling object 16 which can be connected to a taking object 18 through a passage 17 for users to obtain from An object sensor (not shown in the figure, such as an optical sensor, etc.) may be provided for the item A in the object opening 16, the object opening 16, the channel 17, or the object extraction port 18. The object sensor may be electrically powered. The processor 2 is connected to detect the item A from the landing port 16 and output a sensing signal to the processor 2.

In addition, please refer to FIG. 1 again. In the embodiment of the gripper of the present invention, an image pickup device 3 (such as a CCD), a speaker 4 (such as a speaker, etc.), and a light emitting module 5 (such as an LED, etc.) can also be provided. ) And / or a communication transceiver 6 (such as a signal transceiver module that complies with Ethernet, Wi-Fi, LTE communication specifications, etc.), the image pickup device 3, speaker 4, and light emitting module 5 can be installed outside the casing 1. To improve the acousto-optic entertainment effect of the grasping process; the image pickup device 3, speaker 4, light emitting module 5, and communication transceiver 6 can be electrically connected to the processor 2 and controlled by the processor 2 to operate, such as : The processor 2 can control the image pickup device 3 to shoot outward from the casing 1 according to the sensing signal, such as capturing the image B ′ of the captured object A displayed by the user, and output it to the display 15 (such as the fourth (As shown in the figure), or use the communication transceiver 6 to transmit to a remote data platform (such as a cloud database, a social networking site, or a smart phone, etc.), but not limited to this.

Please refer to FIG. 1 and FIG. 3 again. When the above-mentioned gripper embodiment is used for entertainment, the display 15 can display the image B containing the above-mentioned article A and cursor C, for the user to use the controller 13 to control The basis of the electric jig 12 is that during the movement of the gripper 122 of the electric jig 12, the cursor C in the image B also moves accordingly. Since the article A is also displayed in the image B, the user only needs to watch the image B, you can know the position of the gripper 122 represented by the cursor C. The user can know at a glance whether the gripper 122 is aligned with the item A to be grasped. The item A is misaligned. You can easily use the manipulator 13 to enter the movement instruction to fine-adjust the position of the gripper 122 until the gripper 122 is aligned with the item A to be grasped, and then use the manipulator 13 to input The grab command is used to grab the item A.

In this way, the above-mentioned embodiment of the present case allows users to intuitively visualize the relative position of the gripper 122 and the item A to be grasped. Compared with the conventional gripper, this case can provide a "what you see is what you get" gripper 122 position information, for the user to more accurately adjust the movement position of the gripper 122, so that the position of the gripper 122 is exactly aligned with the item A to be grasped, and the misalignment of the item A and the gripper 122 causes the failure of the gripping Times, thereby improving the record of successful grasping, and increasing the fun of the user in the grasping process. It can achieve the effects of "easy alignment of grippers and objects" and "improve the success rate of grasping." When used for entertainment purposes, It can improve the problem of "poor success rate" of the conventional gripper, which can further increase the demand for use.

Although the present invention has been disclosed using the above-mentioned preferred embodiments, it is not intended to limit the present invention. Anyone skilled in the art can make various changes and modifications to the above embodiments without departing from the spirit and scope of the present invention. The technical scope protected by the invention, so the scope of protection of the present invention shall be determined by the scope of the appended patent application.

Claims (15)

    An object gripper includes: a housing provided with a container, an electric fixture, a manipulator, a camera, and a display. The electric fixture is movably disposed in the container, and the manipulator receives several types. A manipulation instruction, the camera is fixed to the housing, and at least one image is taken toward a bottom of the container; and a processor, which is electrically connected to the electric fixture, the controller, the camera and the display, and is driven according to the manipulation instruction When the electric fixture is actuated, a cursor is generated according to the information when the electric fixture is actuated, the cursor is superimposed on the image according to the information, and the cursor is superimposed on the image and output to the display.         The gripper according to item 1 of the scope of patent application, wherein the electric clamp is provided with a uniform moving component and a clamping jaw, the clamping jaw is combined with the actuating component, and the actuating component is electrically connected to the processor for The gripper is actuated.         The gripper according to item 2 of the scope of the patent application, wherein when the gripper is translated to an extreme position, the camera captures the image.         The gripper according to item 2 of the scope of patent application, wherein the processor drives the gripper to move between two opposite corners of a rectangular plane through the actuating component, and the processor is based on a starting point when the gripper moves. A distance and a time difference from the end point are used to calculate a moving speed, and the cursor is superimposed on the image according to the moving speed.         The gripper according to item 4 of the scope of patent application, wherein the gripper is moved from the center of the rectangular plane to the position of one of the two opposite corners, and the position of one of the two opposite corners is used as the starting point, Taking the position of the other of the two opposite corners as the end point, the processor calculates the moving speed according to a distance difference and a time difference when the gripper moves between the start point and the end point.         The gripper according to item 1 of the scope of patent application, wherein the container has a top portion and a plurality of side portions, and the camera is disposed on the top portion or one of the plurality of side portions to capture an image toward the bottom portion. .         According to the gripper of item 6 of the patent application scope, wherein the camera is disposed at the center of the top.         According to the gripper of item 6 of the patent application scope, wherein the display is disposed on one side of the container.         According to the gripper according to item 8 of the scope of the patent application, the side portions of the container chamber include a front side portion, a rear side portion, and two lateral side portions, and the display is disposed on the rear side portion.         The gripper according to item 1 of the scope of patent application, wherein the manipulator is a touch display or a module containing a joystick and buttons.         The gripper according to any one of the items 1 to 10 of the scope of the patent application, wherein the receptacle is provided with a dropout port, and the dropout port communicates with a takeout port through a channel, and the dropout port and the channel Alternatively, an object sensor is provided at the object taking port, and the object sensor is electrically connected to the processor.         The gripper according to item 11 of the scope of patent application, wherein an image pickup device is provided outside the casing, and the image pickup device is electrically connected to the processor, and the processor controls the image pickup device according to the sensing signal. The casing is photographed outwards and output to the display.         The gripper according to any one of claims 1 to 10, wherein the processor is electrically connected to a communication transceiver.         The gripper according to any one of claims 1 to 10, wherein the processor is electrically connected to a speaker.         According to the gripper of any one of claims 1 to 10 of the scope of patent application, wherein the processor is electrically connected to a light emitting module.