A claw mechanism for claw machines

Abstract

This application relates to the field of gaming equipment technology and discloses a claw mechanism for a claw machine, including at least two claw assemblies and at least two transmission assemblies corresponding to each claw assembly. Each transmission assembly includes an inner shaft, an outer cylinder, and a torsion spring. The outer cylinder is rotatably sleeved on the outside of the inner shaft and is connected to the claw assembly. The torsion spring is disposed between the inner shaft and the outer cylinder, with its inner connecting end extending into an inner positioning groove on the outer circumferential surface of the inner shaft and its outer connecting end extending into an outer positioning groove on the inner circumferential surface of the outer cylinder, and is respectively circumferentially limited by the corresponding positioning groove. When the inner shaft is driven to rotate, the torsion spring undergoes torsional deformation and applies torque to the outer cylinder to drive the claw assembly to perform a clamping action. This application can reduce the peripheral space occupied by the torsion spring end fixing structure, improve the stability of the torsion spring end positioning and torque transmission, and can adjust the initial torsional state of the torsion spring by selecting different positioning grooves.

Description

Technical Field

[0001] This invention relates to the field of gaming equipment technology, specifically to a claw mechanism for claw machines. Background Technology

[0002] Claw machines typically have two or more grippers that can move closer together or further apart. A power mechanism drives the grippers to grab plush toys, gifts, or other items placed inside the machine. To enable the grippers to apply an elastic clamping force to the object being grabbed, some gripper mechanisms incorporate a torsion spring between the power output end and the gripper, using the torsional deformation of the torsion spring to transmit torque to the gripper.

[0003] For example, CN104740868B discloses a gripper structure for a game console, which includes a power element, a power disk, and a torsion spring for each of the two grippers. The power disk is driven by the rotating shaft of the power element, and one end of the torsion spring is fixed to a column on the gripper, while the other end is fixed to a rod on the power disk. When the power disk rotates, it causes the torsion spring to coil, and the torsion spring applies a clamping force to the grippers.

[0004] The aforementioned structure requires the installation of columns and rods on the grippers and power plate, respectively, to secure the ends of the torsion springs. Sufficient space must be reserved around the columns, rods, and torsion spring ends for installation and rotation. When the installation space above the claw machine is limited, and more than two grippers and their transmission structures need to be arranged simultaneously, the columns, rods, and torsion spring ends can easily increase the peripheral space occupied by the transmission structure and may restrict the arrangement of other transmission components, detection components, or gripper connection components.

[0005] Furthermore, the ends of the torsion spring are fixed at specific points via a column and rod. The end-fixing structure is separate from the power input and gripper output components, resulting in a large number of parts and assembly locations, which is detrimental to forming a compact coaxial elastic force transmission structure. The ends of the torsion spring may also loosen, shift, or interfere with surrounding parts during repeated torsion and vibration, affecting the stability of torque transmission.

[0006] Therefore, the existing technology still needs to solve the following technical problems: how to reduce the peripheral space occupied by the torsion spring and its end fixing structure in the claw mechanism of the claw machine, so that the torsion spring can be compactly set between the power input component and the claw output component, while improving the positioning reliability and torque transmission stability of the two ends of the torsion spring, so as to adapt to the arrangement of at least two claw components and the needs of the gripping action. Summary of the Invention

[0007] To address the aforementioned shortcomings of existing technologies, this invention provides a claw mechanism for claw machines, which solves the problems of existing torsion springs requiring additional columns or rods for fixing at the ends, resulting in a large space occupied by the torsion spring mounting structure, easy interference with surrounding components, and difficulty in forming a compact and stable elastic force transmission structure.

[0008] To achieve the above objectives, the present invention provides the following technical solution:

[0009] This invention provides a claw mechanism for a claw machine, comprising at least two claw assemblies and at least two transmission assemblies corresponding to each claw assembly;

[0010] Each transmission component includes an inner shaft, an outer cylinder, and a torsion spring. The inner shaft is used to receive the rotational driving force, and the outer cylinder is rotatably sleeved on the outside of the inner shaft relative to the inner shaft and is connected to the corresponding gripper assembly in a transmission manner.

[0011] The torsion spring is disposed between the inner shaft and the outer cylinder. The torsion spring includes a winding portion disposed around the inner shaft, an inner connecting end extending from the winding portion toward the inner shaft side, and an outer connecting end extending from the winding portion toward the outer cylinder side.

[0012] The outer circumferential surface of the inner shaft is provided with at least one inner positioning groove, and the inner circumferential surface of the outer cylinder is provided with at least one outer positioning groove. The inner connecting end extends at least partially into one inner positioning groove and is positioned in the circumferential direction by the groove wall of the inner positioning groove. The outer connecting end extends at least partially into one outer positioning groove and is positioned in the circumferential direction by the groove wall of the outer positioning groove. The inner positioning groove into which the inner connecting end extends and the outer positioning groove into which the outer connecting end extends together constitute the positioning combination of the torsion spring.

[0013] When the inner shaft rotates relative to the outer cylinder under the action of rotational driving force, the torsion spring undergoes torsional deformation and applies torque to the outer cylinder, so that the outer cylinder drives the corresponding gripper assembly to perform a clamping action.

[0014] By placing the torsion spring between the inner shaft and the outer cylinder, and using the inner and outer positioning grooves to circumferentially limit the inner and outer connecting ends respectively, a compact force transmission structure can be formed between the inner shaft, torsion spring, outer cylinder and gripper assembly, reducing the peripheral space occupied by the torsion spring end fixing structure and improving the stability of torque transmission.

[0015] Furthermore, at least one transmission component has one inner positioning groove and one outer positioning groove. This simplifies the groove structure of the inner shaft and outer cylinder, reduces machining and assembly difficulty, and ensures that the two connecting ends of the torsion spring have defined installation positions.

[0016] Furthermore, the positioning assembly consisting of an inner positioning groove and an outer positioning groove is a non-pre-torsion positioning assembly. When the corresponding inner shaft and outer cylinder are in a preset initial relative position, the torsion spring does not undergo pre-torsion deformation due to the relative position of the inner shaft and outer cylinder; or

[0017] The positioning combination consisting of an inner positioning groove and an outer positioning groove is a pre-torsion positioning combination. When the corresponding inner shaft and outer cylinder are in the preset initial relative position, the torsion spring is in a pre-torsion deformation state due to the relative position of the inner shaft and outer cylinder.

[0018] Therefore, the single inner positioning groove and single outer positioning groove structures can be installed using either a non-pre-torsion installation method or a pre-torsion installation method to adapt to different clamping force establishment speed and initial torque requirements.

[0019] Furthermore, at least one of the inner and outer positioning grooves of at least one transmission component is multiple, and the connecting end corresponding to the multiple positioning grooves can selectively extend into any one of the multiple positioning grooves. By changing the inner positioning groove into which the inner connecting end extends or changing the outer positioning groove into which the outer connecting end extends, at least two different positioning combinations are formed. The at least two different positioning combinations cause the torsion spring to have different initial torsional states when the corresponding inner shaft and outer cylinder are in the same preset initial relative position. Thus, without replacing the torsion spring, the initial torsional state and initial torque of the torsion spring can be adjusted by changing the positioning groove corresponding to the end of the torsion spring.

[0020] Furthermore, at least two different positioning combinations include a first positioning combination and a second positioning combination. When the first positioning combination is used and the corresponding inner shaft and outer cylinder are in a preset initial relative position, the torsion spring does not undergo pre-torsional deformation due to the relative position of the inner shaft and outer cylinder. When the second positioning combination is used and the corresponding inner shaft and outer cylinder are in a preset initial relative position, the torsion spring is in a pre-torsional deformation state due to the relative position of the inner shaft and outer cylinder. Thus, the same transmission component can be selected between a no-pre-torsional state and a pre-torsional state to change the starting point for the gripper assembly to establish the clamping force and adapt to different gripping requirements.

[0021] Furthermore, at least one transmission component has multiple inner and outer positioning slots. This allows for an increase in the selectable positioning combinations of the inner and outer connecting ends, and enables different torque adjustment levels to be set according to the stiffness of the torsion spring and the target initial torque.

[0022] Furthermore, at least one of the inner and outer connecting ends of the torsion spring of at least one transmission component has a straight insertion segment, which at least partially extends into the corresponding inner or outer positioning groove. This simplifies the structure of the torsion spring connecting end and the corresponding positioning groove, and facilitates the insertion and assembly of the torsion spring end.

[0023] Furthermore, at least one of the inner and outer connecting ends of the torsion spring in at least one transmission component has a bent portion or a hook-shaped portion, which is at least partially accommodated in the corresponding inner or outer positioning groove and cooperates with the groove wall of the corresponding positioning groove to prevent the connecting end from disengaging. This improves the anti-disengagement capability of the torsion spring connecting end and reduces the possibility of the torsion spring disengaging from the positioning groove during repeated torsion or vibration.

[0024] Furthermore, at least one gripper assembly includes a mounting part, a gripper, and a insertion part. The mounting part is connected to the corresponding outer cylinder and has an insertion cavity. The insertion part is connected to the gripper and is detachably disposed in the insertion cavity. The insertion part has a locking groove.

[0025] The mounting section is equipped with a locking block, a reset elastic element, and an operating element. The locking block can move between the locked position and the unlocked position.

[0026] When the locking block is in the locked position, it extends at least partially into the locking groove to prevent the insertion part from being pulled out of the insertion cavity; when the locking block is in the unlocked position, it exits the locking groove.

[0027] The reset elastic element is disposed between the locking block and the inner wall of the mounting part, and applies a spring force to the locking block to keep the locking block in the locked position or return it to the locked position;

[0028] The operating element is connected to the locking block and can move the locking block from the locked position to the unlocked position when pressed, overcoming the elastic force of the reset elastic element.

[0029] Therefore, the locking between the insertion part and the mounting part can be released by pressing the operating part, allowing the gripper to be quickly disassembled and replaced without disassembling the inner shaft, outer cylinder and torsion spring.

[0030] Furthermore, the operating component includes an operating lever and a pressing part. The operating lever is movably inserted through the mounting part and fixed to the locking block. The upper end of the operating lever extends out of the mounting part and connects to the pressing part, while the lower end of the operating lever is connected to a stop for limiting the travel of the operating lever. One end of the reset elastic element is connected to the lower end of the locking block, and the other end is connected to the inner wall of the mounting part. When the pressing part is pressed, the operating lever drives the locking block to compress the reset elastic element and exit the locking groove. Thus, a direct and reliable unlocking transmission relationship can be formed through the pressing part, the operating lever, and the locking block, and the stop is used to limit the travel of the operating lever and the locking block.

[0031] The technical solution provided by this invention has the following advantages compared with the known prior art:

[0032] First, this application places the torsion spring between the inner shaft and the outer cylinder, with the inner connecting end of the torsion spring extending into the inner positioning groove on the inner shaft and the outer connecting end extending into the outer positioning groove on the outer cylinder. The groove wall of the positioning groove provides circumferential restraint for the two connecting ends of the torsion spring. Compared with the fixing method of setting columns or rods around the torsion spring, this reduces the peripheral space occupied by the torsion spring end fixing structure, reduces the possibility of interference between the torsion spring end and surrounding components, and forms a compact and stable torque transmission path between the inner shaft, torsion spring, outer cylinder, and gripper assembly.

[0033] Secondly, when at least one of the inner and outer positioning slots is configured in multiple ways, multiple positioning combinations can be formed by selecting different positioning slots, thereby changing the initial torsion state and initial torque of the torsion spring without replacing it. This structure can form a state without pre-torsion and one or more pre-torsion states to adapt to the needs of different sized grippers, different weights of gripped objects, and different clamping forces.

[0034] Third, when the torsion spring uses a pre-torsion positioning combination, it can provide a certain initial torque to the outer cylinder before the inner shaft begins to rotate relative to the outer cylinder, allowing the gripper assembly to establish clamping force earlier and reducing transmission backlash. Under the same conditions, this helps reduce the possibility of the gripped object slipping during lifting and conveying. When using a non-pre-torsion positioning combination, the continuous force on the gripper mechanism in the standby state can be reduced, and the clamping force can be gradually built up from a lower level.

[0035] Fourth, the straight insertion section facilitates the insertion of the torsion spring connection end into the corresponding positioning groove, and the bent or hook-shaped part can cooperate with the groove wall of the positioning groove to prevent the connection end from coming out, thus taking into account both the ease of assembly of the torsion spring and the reliability of the end connection.

[0036] Fifth, the gripper assembly forms a resilient, detachable connection structure with a mounting part, a plug-in part, a locking block, and a reset elastic element. Pressing the operating part causes the locking block to disengage from the locking groove, thereby removing the gripper; releasing the operating part causes the reset elastic element to return the locking block to the locked position. This allows for the replacement of grippers of different specifications without disassembling the transmission assembly, improving the ease of assembly and maintenance of the claw machine. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0038] Figure 1 This is a schematic diagram of the structure from one perspective of one embodiment of the present invention;

[0039] Figure 2 This is a structural schematic diagram from another perspective of one embodiment of the present invention;

[0040] Figure 3 This is a schematic diagram from one perspective showing the gripper assembly, transmission assembly, and drive assembly, which are key components of one embodiment of the present invention.

[0041] Figure 4 This is a structural schematic diagram from another perspective, highlighting one embodiment of the present invention, showing the gripper assembly, transmission assembly, and drive assembly.

[0042] Figure 5 This invention focuses on showing an exploded view of the connection between the drive assembly and the transmission assembly. The positions and numbers of the inner and outer positioning slots shown in the figure are for reference.

[0043] Figure 6 This invention focuses on showing the structural diagram of the gripper assembly;

[0044] Figure 7 This invention focuses on showing an exploded view of the gripper assembly from one perspective;

[0045] Figure 8 This is an exploded view of the gripper assembly, which is a key feature of this invention.

[0046] Reference numerals: 1. Gripper assembly; 11. Mounting part; 111. Insertion cavity; 12. Gripper; 13. Insertion part; 131. Locking groove; 14. Locking block; 15. Reset elastic element; 16. Operating element; 161. Operating lever; 162. Pressing part; 163. Stop element; 2. Transmission assembly; 21. Inner shaft; 211. Inner positioning groove; 22. Outer cylinder; 221. Outer positioning groove; 23. Torsion spring; 231. Winding part; 232. Inner connecting end; 233. Outer connecting end; 3. Drive assembly. Detailed Implementation

[0047] The technical solution of this application will be further described below with reference to several embodiments. It should be noted that the directional terms such as "upper," "lower," "inner," and "outer" used in the various embodiments are mainly used to describe the relative positional relationship between the components and do not constitute a limitation on the actual installation direction of the gripper mechanism.

[0048] The preset initial relative position referred to in this application refers to the predetermined relative position of the inner shaft 21 and the outer cylinder 22 when the claw machine has not performed the current gripping action. This preset initial relative position can be determined by the initial position of the drive assembly 3, the initial position of the gripper assembly 1, or a combination of the above structures.

[0049] The term "no pre-torsion state" as used in this application refers to a state where, when the inner shaft 21 and the outer cylinder 22 are in a preset initial relative position, the torsion spring 23 does not undergo pre-torsion deformation due to the relative position of the inner shaft 21 and the outer cylinder 22. Ignoring residual stress, assembly friction, and machining errors, the torsion spring 23 essentially does not apply initial torque to the outer cylinder 22 in this state.

[0050] The pre-torsion state referred to in this application means that when the inner shaft 21 and the outer cylinder 22 are in a preset initial relative position, the torsion spring 23 has already undergone torsional deformation due to the relative position of the inner shaft 21 and the outer cylinder 22, and applies an initial torque in opposite directions to the inner shaft 21 and the outer cylinder 22.

[0051] Example 1

[0052] Reference Figures 1 to 5 This embodiment provides a claw mechanism for claw machines, which mainly solves the problems that the ends of existing torsion springs need to be fixed by columns or rods set around the claw or power plate, resulting in the torsion spring mounting structure occupying a large amount of external space, the ends easily interfering with other components, and the torque transmission path not being compact enough.

[0053] The gripper mechanism includes at least two gripper assemblies 1 and at least two transmission assemblies 2 corresponding to each gripper assembly 1. In this embodiment, two gripper assemblies 1 and two transmission assemblies 2 are used as an example for explanation. The two gripper assemblies 1 are arranged opposite each other and can move close to each other to grip a doll or other gift. It is understood that three, four or more gripper assemblies 1 and transmission assemblies 2 can also be provided respectively.

[0054] Each transmission assembly 2 includes an inner shaft 21, an outer cylinder 22, and a torsion spring 23. The inner shaft 21 is used to receive rotational driving force and can be directly connected to the power output end of the drive assembly 3, or it can be connected to the drive assembly 3 through a coupling, gear mechanism, or other transmission mechanism. This embodiment does not limit whether different inner shafts 21 are driven by the same drive assembly 3 or by different drive assemblies 3.

[0055] The outer cylinder 22 is sleeved on the outside of the inner shaft 21 and can rotate relative to the inner shaft 21. The inner shaft 21 and the outer cylinder 22 are preferably coaxial. The inner shaft 21 and the outer cylinder 22 can be mounted on the support structure of the claw machine by bearings, bushings or other rotating support structures to ensure that the inner shaft 21 and the outer cylinder 22 can rotate stably relative to each other.

[0056] The gripper assembly 1 is connected to the corresponding outer cylinder 22 via a transmission connection. The gripper assembly 1 can be directly fixed to the outer cylinder 22, or it can be connected to the outer cylinder 22 through a connecting seat, connecting arm, or a detachable connecting structure. When the outer cylinder 22 rotates, it can drive the gripper assembly 1 to move towards the object being gripped, thereby performing a gripping action.

[0057] The torsion spring 23 is disposed between the inner shaft 21 and the outer cylinder 22, and includes a winding portion 231 surrounding the inner shaft 21, an inner connecting end 232 extending from the winding portion 231 toward the inner shaft 21, and an outer connecting end 233 extending from the winding portion 231 toward the outer cylinder 22. Movable gaps are provided between the winding portion 231 and the inner shaft 21, and between the winding portion 231 and the outer cylinder 22, respectively, to allow the torsion spring 23 to undergo torsional deformation, thus preventing excessive friction between the winding portion 231 and the inner shaft 21 or the outer cylinder 22 during operation.

[0058] The outer circumferential surface of the inner shaft 21 is provided with at least one inner positioning groove 211, and the inner circumferential surface of the outer cylinder 22 is provided with at least one outer positioning groove 221. Both the inner positioning groove 211 and the outer positioning groove 221 are open toward the torsion spring mounting space between the inner shaft 21 and the outer cylinder 22.

[0059] During assembly, the winding portion 231 of the torsion spring 23 is positioned outside the inner shaft 21, such that the inner connecting end 232 at least partially extends into an inner positioning groove 211, and the outer connecting end 233 at least partially extends into an outer positioning groove 221. The groove wall of the inner positioning groove 211 restricts the movement of the inner connecting end 232 in the circumferential direction of the inner shaft 21, and the groove wall of the outer positioning groove 221 restricts the movement of the outer connecting end 233 in the circumferential direction of the outer cylinder 22. Therefore, the inner connecting end 232 of the torsion spring 23 can rotate with the inner shaft 21, and the outer connecting end 233 can transmit torque to the outer cylinder 22.

[0060] The inner positioning groove 211 into which the inner connecting end 232 extends and the outer positioning groove 221 into which the outer connecting end 233 extends together form a positioning combination for the torsion spring 23. This positioning combination determines the installation position of the two connecting ends of the torsion spring 23 relative to the inner shaft 21 and the outer cylinder 22.

[0061] When the claw machine performs a gripping action, the inner shaft 21 rotates under the action of rotational driving force. When relative rotation occurs between the inner shaft 21 and the outer cylinder 22, the inner connecting end 232 rotates with the inner shaft 21, while the outer connecting end 233 is restricted by the outer cylinder 22, causing the torsion spring 23 to undergo torsional deformation. The torsion spring 23 applies torque to the outer cylinder 22 through the outer connecting end 233, and the outer cylinder 22 drives the corresponding gripper assembly 1 to perform a gripping action under the action of this torque.

[0062] Furthermore, the gripper mechanism may also include a control component, a drive component 3, and an angle detection element corresponding to the outer cylinder 22. The control component is signal-connected to both the drive component 3 and the angle detection element. The angle detection element detects the rotation angle of the outer cylinder 22 and feeds the detection result back to the control component. Based on the gripping control parameters corresponding to the preset winning rate, and in conjunction with the rotation angle of the outer cylinder 22, the control component controls the rotation amount, rotation speed, and / or holding time of the inner shaft 21 to change the torsion amount of the torsion spring 23 and the torque applied by the torsion spring 23 to the outer cylinder 22, thereby adjusting the gripping force of the gripper assembly 1. The rotation angle of the outer cylinder 22 can be used to determine the operating position of the gripper assembly 1; when it is necessary to determine the actual torsion amount of the torsion spring 23, it can also be determined by combining the rotation amount of the inner shaft 21 and the initial torsion state of the torsion spring 23. The control component determines the gripping control parameters based on the preset winning rate, and the specific method of controlling the drive component 3 based on the angle detection result can adopt existing control methods, which will not be elaborated here.

[0063] When the gripper assembly 1 comes into contact with the object being gripped, the object generates resistance against the gripper assembly 1, and the relative angle between the outer cylinder 22 and the inner shaft 21 increases accordingly. This causes the torsion spring 23 to undergo further torsional deformation and gradually increases the clamping torque applied to the gripper assembly 1. After the drive assembly 3 stops, reverses its rotation, or the rotational driving force is released, the torsion spring 23 can release at least part of its elastic potential energy, causing the outer cylinder 22 or the gripper assembly 1 to return to the predetermined position.

[0064] In this embodiment, positioning grooves are provided on the outer circumferential surface of the inner shaft 21 and the inner circumferential surface of the outer cylinder 22, respectively, to house and confine the two connecting ends of the torsion spring 23 between the inner shaft 21 and the outer cylinder 22. This eliminates the need for exposed posts around the torsion spring 23 to fix its ends. This reduces the peripheral space occupied by the torsion spring transmission structure, lowers the possibility of interference between the ends of the torsion spring 23 and other components, and forms a coaxial elastic force transmission path of "inner shaft 21—torsion spring 23—outer cylinder 22—gripper assembly 1".

[0065] Example 2

[0066] This embodiment is based on Embodiment 1, and the same structure and working principle will not be described again. This embodiment mainly addresses the issue of how to select between a non-pre-torsion installation state and a pre-torsion installation state according to the specific usage requirements of the gripper 12 when using a fixed slot to install the torsion spring 23.

[0067] In this embodiment, at least one transmission component 2 has one inner positioning groove 211 and one outer positioning groove 221. Preferably, each transmission component 2 has one inner positioning groove 211 and one outer positioning groove 221. The inner connecting end 232 of the torsion spring 23 extends into the inner positioning groove 211, and the outer connecting end 233 extends into the outer positioning groove 221, forming a fixed positioning combination.

[0068] The presence of an inner positioning groove 211 and an outer positioning groove 221 indicates only that the number of slots available for selection at the end of the torsion spring 23 is fixed, and does not imply that the torsion spring 23 is necessarily in a state without pre-torsion. Based on the relative positions of the inner positioning groove 211, the outer positioning groove 221, and the two connecting ends of the torsion spring 23 in its natural state, this embodiment can adopt the following two installation methods.

[0069] The first installation method is a pre-torsion-free installation method. When the inner shaft 21 and the outer cylinder 22 are in a preset initial relative position, the relative position between the inner positioning groove 211 and the outer positioning groove 221 matches the relative position between the inner connecting end 232 and the outer connecting end 233 of the torsion spring 23 in its natural state. After the torsion spring 23 is installed, it is not necessary to change the relative position between the inner shaft 21 and the outer cylinder 22 to cause the torsion spring 23 to undergo pre-torsion deformation. The positioning combination consisting of one inner positioning groove 211 and one outer positioning groove 221 forms a pre-torsion-free positioning combination.

[0070] In this installation method, the torsion spring 23 gradually undergoes torsional deformation and establishes output torque only after the inner shaft 21 begins to rotate relative to the outer cylinder 22. This reduces the continuous load on the gripper mechanism in standby mode, lowers the initial stress of the torsion spring 23, and allows the gripping torque to gradually increase from a lower level, making it suitable for gripping lighter objects or objects that are not susceptible to sudden impacts.

[0071] The second installation method is the pre-torsion installation method. During assembly, first, hold the inner shaft 21 and outer cylinder 22 or torsion spring 23 in the predetermined assembly position. Then, insert the inner connecting end 232 and the outer connecting end 233 into the unique inner positioning groove 211 and outer positioning groove 221, respectively. Finally, return the inner shaft 21 and outer cylinder 22 to the preset initial relative position when the claw machine is working. Because the relative position between the inner positioning groove 211 and the outer positioning groove 221 deviates from the relative position between the two connecting ends of the torsion spring 23 in its natural state, the torsion spring 23 maintains a pre-torsion deformed state at the preset initial relative position.

[0072] In this installation method, the preset initial relative position of the inner shaft 21 and the outer cylinder 22 can be maintained by the mechanical limiting structure of the claw machine, the holding force of the drive component 3, or the initial position limiting structure of the gripper component 1, so as to prevent the torsion spring 23 from releasing its pre-torsion amount on its own.

[0073] The pre-torsion state allows the torsion spring 23 to have a certain initial torque before the inner shaft 21 starts to rotate, thereby reducing the transmission gap between the inner shaft 21, the end of the torsion spring 23, the inner positioning groove 211, the outer positioning groove 221 and the outer cylinder 22, so that the gripper assembly 1 can quickly establish the clamping force in the early stage of operation and reduce the free swaying of the gripper assembly 1 in the standby state.

[0074] Under the same conditions of inner shaft 21 rotation and other working conditions, when torsion spring 23 is in a pre-torsion state, it enables gripper assembly 1 to establish clamping force earlier and obtain a relatively large clamping torque, thereby reducing the possibility of the gripped object slipping off gripper assembly 1 during lifting, moving, and conveying to the outlet, which is beneficial to increasing the probability of the gripped object being successfully conveyed to the outlet. When torsion spring 23 is in a state without pre-torsion or has a small initial torsion, the clamping torque is gradually established from a low level, and under the same driving conditions, the possibility of the gripped object slipping off gripper assembly 1 is relatively increased. Therefore, the initial torsion state of torsion spring 23 can be matched with clamping control parameters such as inner shaft 21 rotation, rotation speed, and holding time according to the preset success rate to adjust the probability of successful gripping. It should be noted that the pre-torsion state is only one of the factors affecting the probability of successful gripping. The probability of successful gripping is also related to the weight, shape, surface friction characteristics of the gripped object, the structure of gripper 12, and the movement process of gripper 12.

[0075] Therefore, in this embodiment, without increasing the number of slots, by changing the relative relationship between the inner positioning slot 211, the outer positioning slot 221 and the natural end position of the torsion spring 23, the single inner positioning slot 211 and the single outer positioning slot 221 structure can be installed using either a non-pre-torsion installation method or a pre-torsion installation method.

[0076] Example 3

[0077] This embodiment is based on Embodiment 1, and the same structure and working principle will not be described again. This embodiment mainly solves the problem that the same torsion spring transmission assembly is difficult to adapt to different gripper weights 12, different gripped objects, and different initial clamping torque requirements.

[0078] In this embodiment, at least one of the inner positioning groove 211 and the outer positioning groove 221 of at least one transmission component 2 is multiple. Further, both the inner positioning groove 211 and the outer positioning groove 221 are multiple. Multiple inner positioning grooves 211 are formed on the outer peripheral surface of the inner shaft 21, and multiple outer positioning grooves 221 are formed on the inner peripheral surface of the outer cylinder 22.

[0079] Multiple inner positioning slots 211 and multiple outer positioning slots 221 can be located at different circumferential positions. The multiple positioning slots can be evenly distributed or non-uniformly distributed. Their specific number and relative positions are determined based on the stiffness of the torsion spring 23, the mass of the gripper assembly 1, the drive stroke, and the target initial torque. This embodiment does not limit the specific angle between adjacent positioning slots.

[0080] In one specific form, the number of inner positioning grooves 211 and outer positioning grooves 221 are the same; for example, three inner positioning grooves 211 and three outer positioning grooves 221 are each provided. The inner connecting end 232 of the torsion spring 23 can selectively extend into one inner positioning groove 211, and the outer connecting end 233 can selectively extend into one outer positioning groove 221. Different combinations of inner positioning grooves 211 and outer positioning grooves 221 form different positioning combinations.

[0081] In another specific form, the number of inner positioning slots 211 and outer positioning slots 221 differs; for example, two inner positioning slots 211 and three outer positioning slots 221 are provided. By selecting different combinations of inner positioning slots 211 and outer positioning slots 221, multiple optional installation positions can be obtained. It should be noted that increasing the number of selectable slot combinations does not necessarily mean that each slot combination corresponds to a different initial torsional state; only positioning combinations that form different effective relative positions between the inner connecting end 232 and the outer connecting end 233 will produce different initial torsional amounts.

[0082] This embodiment includes at least a first positioning combination and a second positioning combination.

[0083] When the first positioning combination is used, the relative position between the selected inner positioning groove 211 and the selected outer positioning groove 221 matches the relative position between the inner connecting end 232 and the outer connecting end 233 of the torsion spring 23 in its natural state. When the inner shaft 21 and the outer cylinder 22 are in the preset initial relative position, the torsion spring 23 does not undergo pre-torsional deformation, and the first positioning combination constitutes a positioning combination without pre-torsional deformation.

[0084] When using the second positioning combination, the inner connecting end 232 is changed to extend into another inner positioning groove 211, or the outer connecting end 233 is changed to extend into another outer positioning groove 221, so that the effective relative position between the two connecting ends of the torsion spring 23 changes. When the inner shaft 21 and the outer cylinder 22 are in the same preset initial relative position, the torsion spring 23 has already undergone pre-torsional deformation, and the second positioning combination constitutes a pre-torsional positioning combination.

[0085] In addition to the first and second positioning combinations, multiple positioning combinations corresponding to different non-zero pre-torsion amounts can be set. For example, within the elastic working range of the torsion spring 23, the initial torque and the initial torsion amount can be approximately expressed as:

[0086]

[0087] in, Let be the initial torque of torsion spring 23, and k be the torsional stiffness of torsion spring 23. This represents the initial torsion of torsion spring 23. The initial torsion can be changed by altering the positioning assembly. This changes the initial torque. However, this will not change the torsional stiffness k of the torsion spring 23 itself.

[0088] When making adjustments, first disconnect the connecting end of the torsion spring 23 from the corresponding positioning slot, and then insert the connecting end into another positioning slot. This adjustment can be completed during the assembly of the claw machine, or after maintenance, replacement of the gripper assembly 1, or after the torsion spring 23 has become somewhat loose.

[0089] This embodiment provides multiple discrete initial torsion states through multiple positioning slots, which can adjust the starting point of the gripper assembly 1 to establish the clamping torque without replacing the torsion spring 23, and adapt to gripper assemblies 1 of different specifications or gripped objects of different weights; it can also be used to compensate for the stiffness tolerance of the torsion spring 23, the machining error of parts, and the relaxation of the torsion spring 23 after long-term use.

[0090] When multiple transmission components 2 adopt different positioning combinations, the initial clamping torque difference between each gripper component 1 can be adjusted; when each transmission component 2 adopts the same positioning combination, the consistency of the initial force on each gripper component 1 can be improved.

[0091] Different positioning combinations can cause the torsion spring 23 to form different initial torsional states, thereby changing the starting point for the gripper assembly 1 to establish the gripping force. It can also be coordinated with the gripping control parameters of the claw machine to improve the adjustability of the gripping force and the probability of successful grabbing.

[0092] Example 4

[0093] This embodiment is based on Embodiment 1, and the same structure and working principle will not be described again. This embodiment mainly solves the problem of balancing easy assembly of the end of the torsion spring 23 with reliable anti-detachment of the end of the torsion spring 23.

[0094] In one specific embodiment, the inner connecting end 232 of the torsion spring 23 has a straight insertion section, and the outer connecting end 233 of the torsion spring 23 has a bent portion or a hook-shaped portion.

[0095] The straight insertion section of the inner connecting end 232 extends from the winding portion 231 toward the inner shaft 21 and at least partially extends into the inner positioning groove 211. The straight insertion section circumferentially engages with the groove wall of the inner positioning groove 211, allowing the inner connecting end 232 to rotate with the inner shaft 21. Due to the simple structure of the straight insertion section, it can be inserted along the opening direction of the inner positioning groove 211, facilitating the assembly of the torsion spring 23 within the limited space between the inner shaft 21 and the outer cylinder 22.

[0096] The outer connecting end 233 extends from the winding portion 231 toward the outer cylinder 22, and its end is further bent to form a bent portion or a hook-shaped portion. The bent portion or hook-shaped portion is at least partially accommodated in the outer positioning groove 221 and cooperates with the groove wall or the limiting portion inside the groove of the outer positioning groove 221. When the outer connecting end 233 is subjected to a release force along the opening direction of the outer positioning groove 221 or the axial direction of the outer cylinder 22, the bent portion or hook-shaped portion can abut against the groove wall to prevent the outer connecting end 233 from disengaging from the outer positioning groove 221.

[0097] In another specific embodiment, the inner connecting end 232 can be configured with a bent portion or a hook-shaped portion, and the outer connecting end 233 can be configured with a straight insertion section. This embodiment is suitable for situations where the inner shaft 21 side needs to improve the anti-detachment capability of the connecting end, while the outer cylinder 22 side has a large straight insertion space.

[0098] Alternatively, one of the inner connecting end 232 and the outer connecting end 233 can simultaneously have a straight insertion section and a bent portion at the end of the straight insertion section. For example, the connecting end first extends into the corresponding positioning groove through the straight insertion section, and then mates with the inner wall of the positioning groove through the bent portion at the end. This structure can also take into account both guiding insertion and preventing dislodgement.

[0099] This embodiment uses a straight plug section to reduce the assembly difficulty of the end of the torsion spring 23, while using a bent part or a hook-shaped part to improve the anti-disengagement capability of at least one connection end. This can reduce the possibility of the torsion spring 23 disengaging from the positioning groove when it is repeatedly twisted, vibrated or subjected to axial disturbance, and improve the stability of torque transmission.

[0100] Example 5

[0101] Reference Figures 6 to 8 This embodiment is based on Embodiment 1, and the same structure and working principle will not be described again. This embodiment mainly solves the problem that it is not convenient to replace grippers 12 of different specifications, and that it is necessary to disassemble the outer cylinder 22, torsion spring 23 or transmission assembly 2 when replacing grippers 12.

[0102] In this embodiment, at least one gripper assembly 1 includes a mounting portion 11, a gripper 12, and a insertion portion 13. Preferably, each gripper assembly 1 adopts the same detachable structure.

[0103] The mounting part 11 is connected to the corresponding outer cylinder 22. The mounting part 11 can be integrally formed with the outer cylinder 22, or it can be connected to the outer cylinder 22 by threaded connection, fastener connection, welding or other fixing methods. When the outer cylinder 22 rotates, the mounting part 11 can rotate synchronously with the outer cylinder 22.

[0104] The mounting part 11 is provided with a insertion cavity 111, which has an opening for the insertion part 13 to enter and exit. The insertion part 13 is connected to the gripper 12. The insertion part 13 can be integrally formed with the gripper 12, or it can be connected to the gripper 12 by a fastener or a fixed connection structure. The insertion part 13 can be inserted into or pulled out of the insertion cavity 111 in the insertion direction.

[0105] The insertion part 13 is provided with a locking groove 131. The locking groove 131 is preferably formed on the side wall of the insertion part 13 and corresponds to the locking block 14 on the mounting part 11 when the insertion part 13 is inserted into the predetermined installation position.

[0106] The mounting section 11 is provided with a locking block 14, a reset elastic element 15, and an operating element 16. The locking block 14 can move between a locked position and an unlocked position. The direction of movement of the locking block 14 can intersect with the insertion and removal direction of the plug-in section 13; in a preferred embodiment, the direction of movement of the locking block 14 is substantially perpendicular to the insertion and removal direction of the plug-in section 13.

[0107] When the locking block 14 is in the locked position, the locking block 14 extends at least partially into the locking groove 131 of the plug-in portion 13. At this time, the movement of the plug-in portion 13 in the pull-out direction will cause the groove wall of the locking groove 131 to abut against the locking block 14, and the locking block 14 will restrict the plug-in portion 13 from being pulled out of the plug-in cavity 111.

[0108] When the locking block 14 is in the unlocked position, the locking block 14 exits the locking groove 131, so that the locking block 14 no longer blocks the insertion part 13 from moving in the pull-out direction, and the insertion part 13 and the clamp 12 connected thereto can be removed from the mounting part 11.

[0109] A reset elastic element 15 is disposed between the locking block 14 and the inner wall of the mounting portion 11. In this embodiment, the reset elastic element 15 is a compression spring. One end of the reset elastic element 15 is connected to or abuts against the lower end of the locking block 14, and the other end is connected to or abuts against the inner wall of the mounting portion 11. The reset elastic element 15 applies a spring force toward the locking position to the locking block 14, so that the locking block 14 remains in the locked position when not subjected to a pressing operation.

[0110] The operating element 16 includes an operating lever 161 and a pressing part 162. The operating lever 161 is movably inserted through the mounting part 11 and fixedly connected to the locking block 14. The upper end of the operating lever 161 extends out of the mounting part 11 and is connected to the pressing part 162 so that the operator can press it from the outside of the mounting part 11.

[0111] A stop 163 is connected to the lower end of the operating lever 161. The stop 163 is used to limit the travel of the operating lever 161 and the locking block 14, preventing the locking block 14 from moving excessively under the action of the reset elastic member 15 and disengaging from the predetermined installation position, and also preventing the operating lever 161 from dislodging from the mounting part 11. The specific abutment position of the stop 163 can be determined according to the internal structure of the mounting part 11.

[0112] When installing the gripper 12, the operator presses the pressing part 162, causing the operating lever 161 to move the locking block 14 from the locked position to the unlocked position, and compressing the reset elastic element 15. After the locking block 14 exits the area corresponding to the locking groove 131 in the insertion cavity 111, the insertion part 13 is inserted into the insertion cavity 111 of the mounting part 11. After the insertion part 13 reaches the predetermined installation position, the operator releases the pressing part 162, and the reset elastic element 15 pushes the locking block 14 back to the locked position, causing the locking block 14 to extend into the locking groove 131, completing the locking installation of the gripper 12.

[0113] When disassembling the gripper 12, the operator presses the pressing part 162 again. The operating lever 161 drives the locking block 14 to compress the reset elastic element 15 and exit the locking groove 131, causing the locking block 14 to be misaligned with the locking groove 131. At this time, the insertion part 13 is no longer restricted by the locking block 14, and the operator can pull the insertion part 13 together with the gripper 12 out of the insertion cavity 111. After releasing the pressing part 162, the locking block 14 returns to the locked position under the action of the reset elastic element 15.

[0114] After the gripper 12 is locked, the torque output by the outer cylinder 22 is transmitted to the gripper 12 through the mounting part 11 and the insertion part 13 in sequence, causing the gripper 12 to perform the clamping action. When replacing the gripper 12, it is not necessary to disassemble the inner shaft 21, the outer cylinder 22 and the torsion spring 23, nor is it necessary to disengage the connection between the connecting end of the torsion spring 23 and the positioning groove.

[0115] This embodiment achieves quick assembly and disassembly between the gripper 12 and the outer cylinder 22 through press-to-unlock and elastic reset locking, facilitating the replacement of grippers 12 with different lengths, curvatures, or gripping surface structures according to the size, weight, and shape of the doll or gift. The reset elastic element 15 enables the locking block 14 to remain in the locked position when not actively pressed, reducing the possibility of the insertion part 13 accidentally dislodging; the stop element 163 limits the travel of the operating lever 161 and the locking block 14, preventing the reset elastic element 15 from being over-compressed or the locking block 14 from leaving the predetermined range of motion.

Claims

1. A gripper mechanism for a claw machine, characterized in that, It includes at least two gripper assemblies and at least two transmission assemblies corresponding to each gripper assembly; Each transmission component includes an inner shaft, an outer cylinder, and a torsion spring. The inner shaft is used to receive the rotational driving force, and the outer cylinder is rotatably sleeved on the outside of the inner shaft relative to the inner shaft and is connected to the corresponding gripper assembly in a transmission connection. The torsion spring is disposed between the inner shaft and the outer cylinder. The torsion spring includes a winding portion disposed around the inner shaft, an inner connecting end extending from the winding portion toward the inner shaft side, and an outer connecting end extending from the winding portion toward the outer cylinder side. The outer circumferential surface of the inner shaft is provided with at least one inner positioning groove, and the inner circumferential surface of the outer cylinder is provided with at least one outer positioning groove. The inner connecting end extends at least partially into one inner positioning groove and is positioned in the circumferential direction by the groove wall of the inner positioning groove. The outer connecting end extends at least partially into one outer positioning groove and is positioned in the circumferential direction by the groove wall of the outer positioning groove. The inner positioning groove into which the inner connecting end extends and the outer positioning groove into which the outer connecting end extends together constitute the positioning combination of the torsion spring. When the inner shaft rotates relative to the outer cylinder under the action of rotational driving force, the torsion spring undergoes torsional deformation and applies torque to the outer cylinder, so that the outer cylinder drives the corresponding gripper assembly to perform a clamping action.

2. The claw mechanism for a claw machine according to claim 1, characterized in that, At least one transmission component has one inner positioning groove and one outer positioning groove.

3. The claw mechanism for a claw machine according to claim 2, characterized in that, The positioning assembly consisting of an inner positioning groove and an outer positioning groove is a non-pre-torsion positioning assembly. When the corresponding inner shaft and outer cylinder are in a preset initial relative position, the torsion spring does not undergo pre-torsion deformation due to the relative position of the inner shaft and outer cylinder; or The positioning combination consisting of an inner positioning groove and an outer positioning groove is a pre-torsion positioning combination. When the corresponding inner shaft and outer cylinder are in a preset initial relative position, the torsion spring is in a pre-torsion deformation state due to the relative position of the inner shaft and outer cylinder.

4. The claw mechanism for a claw machine according to claim 1, characterized in that, At least one of the inner positioning groove and the outer positioning groove of the transmission component is multiple, and the connecting end corresponding to the multiple positioning grooves can selectively extend into any one of the multiple positioning grooves. By changing the inner positioning groove into which the inner connecting end extends or changing the outer positioning groove into which the outer connecting end extends, at least two different positioning combinations are formed. The at least two different positioning combinations cause the torsion spring to have different initial torsional states when the corresponding inner shaft and outer cylinder are in the same preset initial relative position.

5. The claw mechanism for a claw machine according to claim 4, characterized in that, At least two different positioning combinations include a first positioning combination and a second positioning combination. When the first positioning combination is used and the corresponding inner shaft and outer cylinder are in a preset initial relative position, the torsion spring does not undergo pre-torsional deformation due to the relative position of the inner shaft and outer cylinder. When the second positioning combination is used and the corresponding inner shaft and outer cylinder are in a preset initial relative position, the torsion spring is in a pre-torsional deformation state due to the relative position of the inner shaft and outer cylinder.

6. The claw mechanism for a claw machine according to claim 4, characterized in that, At least one transmission component has multiple inner and outer positioning slots.

7. The claw mechanism for a claw machine according to claim 1, characterized in that, At least one of the inner and outer connecting ends of the torsion spring of at least one transmission component has a straight insertion segment, which at least partially extends into the corresponding inner or outer positioning groove.

8. The claw mechanism for a claw machine according to claim 1, characterized in that, At least one of the inner and outer connecting ends of the torsion spring of at least one transmission component has a bent portion or a hook-shaped portion, which is at least partially accommodated in the corresponding inner or outer positioning groove and cooperates with the groove wall of the corresponding positioning groove to restrict the connecting end from disengaging.

9. The claw mechanism for a claw machine according to claim 1, characterized in that, At least one gripper assembly includes a mounting part, a gripper, and a plug-in part. The mounting part is connected to a corresponding outer cylinder and has a plug-in cavity. The plug-in part is connected to the gripper and is pluggably disposed in the plug-in cavity. The plug-in part has a locking groove. The mounting section is equipped with a locking block, a reset elastic element, and an operating element. The locking block can move between the locked position and the unlocked position. When the locking block is in the locked position, it extends at least partially into the locking groove to prevent the insertion part from being pulled out of the insertion cavity; when the locking block is in the unlocked position, it exits the locking groove. The reset elastic element is disposed between the locking block and the inner wall of the mounting part, and applies a spring force to the locking block to keep the locking block in the locked position or return it to the locked position; The operating element is connected to the locking block and can move the locking block from the locked position to the unlocked position when pressed, overcoming the elastic force of the reset elastic element.

10. The claw mechanism for a claw machine according to claim 9, characterized in that, The operating component includes an operating lever and a pressing part. The operating lever is movably inserted through the mounting part and fixed to the locking block. The upper end of the operating lever extends out of the mounting part and is connected to the pressing part. The lower end of the operating lever is connected to a stop for limiting the travel of the operating lever. One end of the reset elastic element is connected to the lower end of the locking block, and the other end is connected to the inner wall of the mounting part. When the pressing part is pressed, the operating lever drives the locking block to compress the reset elastic element and exit the locking groove.

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