Jaw driving mechanism for doll catcher and crown block

Abstract

The utility model discloses a claw driving mechanism and a crown block for a doll catcher, and the claw driving mechanism for the doll catcher comprises a first motion type transmission mechanism, a second motion type transmission mechanism and a third motion type transmission mechanism, the first movement type driving equipment is arranged on the first movement type transmission mechanism and is used for driving the first movement type transmission mechanism to drive the mechanical claw to move; the first movement type transmission mechanism comprises a first movement type guide rail extending in the second direction, a movement type driving wheel capable of being driven by first movement type driving equipment to rotate, and a movement type driven wheel capable of being arranged in a pivoted mode relative to the first movement type driving equipment. The moving type driving wheel and the moving type driven wheel are arranged on the two opposite sides of the first moving type guide rail and can clamp the first moving type guide rail. Therefore, the movement stability of the first movement type driving equipment in the extension direction of the first movement type guide rail can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of claw machine accessories, in particular to a claw driving mechanism and a crane for a claw machine. Background Art

[0002] Claw machines, also known as claw machines, doll-grabbing machines, and figurine-grabbing machines, are a common type of electronic game machine. To use a claw machine, players first operate the machine's control components (such as joysticks and buttons) to control the claw drive mechanism, which moves the mechanical claw to the location of a doll or other small gift, and then controls the claw to attempt to grab the doll or other small gift.

[0003] Since the movement of the mechanical claw to the location of the doll or small gift is driven by the claw drive mechanism, the claw drive mechanism is an indispensable part of the claw machine.

[0004] Moreover, since the claw driving mechanism is not only used to drive the movement of the mechanical claw, but is also an important component of the appearance of the claw machine, the compactness and simplicity of the appearance of the claw driving mechanism also play an important role in improving the aesthetic appearance of the claw machine.

[0005] However, the claw drive mechanism in the claw machines currently on the market lacks stability when driving the mechanical claw to move. The mechanical claw shakes significantly while being driven by the claw drive mechanism, resulting in a poor user experience. Moreover, the structure of the currently common claw drive mechanism is relatively redundant, which not only affects the movement of the mechanical claw, but also affects the aesthetic appearance of the claw machine. Utility Model Content

[0006] In order to solve at least one of the above problems, according to one aspect of the present invention, a claw driving mechanism for a claw machine is provided.

[0007] The claw driving mechanism for the claw machine includes a first motion transmission mechanism; and a first motion driving device arranged on the first motion transmission mechanism and used to drive the first motion transmission mechanism to drive the mechanical claw to move; wherein, the first motion transmission mechanism includes a first motion guide rail extending along a second direction, a motion driving wheel that can rotate under the drive of the first motion driving device, and a motion driven wheel that can be pivotally arranged relative to the first motion driving device; the motion driving wheel and the motion driven wheel are arranged on two opposite sides of the first motion guide rail and can clamp the first motion guide rail.

[0008] Since the first motion driving device drives the motion driving wheel to rotate to drive the first motion driving device to move along the first motion guide rail, the motion driven wheel and the motion driving wheel that are pivotally arranged relative to the first motion driving device can clamp the first motion guide rail, thereby improving the stability of the first motion driving device in the extension direction of the first motion guide rail.

[0009] In some embodiments, at least one of the moving driving wheel and the moving driven wheel is provided with more than two, and is arranged along the extension direction of the first moving guide rail, so that when the moving driving wheel and the moving driven wheel move along the extension direction of the first moving guide rail, the shaking of the moving driving wheel and the moving driven wheel relative to the first moving guide rail can be further reduced; and / or at least one of the moving driving wheel and the moving driven wheel is provided with a guide groove adapted to the outer periphery of the first moving guide rail on its periphery, thereby, by accommodating the first moving guide rail in the guide groove, the moving driving wheel and the moving driven wheel provided with the guide groove can be prevented from sliding off the first moving guide rail when the moving driving wheel and the moving driven wheel move along the extension direction of the first moving guide rail.

[0010] In some embodiments, the moving driving wheel is arranged below the moving driven wheel, whereby the weight of the first moving guide rail falls on the outer periphery of the moving driving wheel to increase the friction between the first moving guide rail and the moving driving wheel, and improve the stability of the moving driving wheel relative to the first moving guide rail when the first moving driving device drives the moving driving wheel to rotate; and / or at least one of the moving driving wheel and the moving driven wheel contacts the first moving guide rail through a rubber layer arranged on its surface, and the first moving guide rail is an optical axis, thereby not only improving the friction between the moving driving wheel and / or the moving driven wheel with a rubber layer on its surface and the first moving guide rail, but also reducing the noise when the moving driving wheel and the moving driven wheel move along the extension direction of the first moving guide rail.

[0011] In some embodiments, the claw driving mechanism for the claw machine further includes a motion guide mechanism for guiding the transmission of the first motion transmission mechanism, thereby improving the stability of the first motion transmission mechanism in driving the mechanical claw to move in the second direction.

[0012] In some embodiments, the kinematic guide mechanism includes a second kinematic guide rail and a kinematic guide slider that are adapted to each other; wherein the second kinematic guide rail extends along the second direction; and the first kinematic drive device is provided on the kinematic guide slider.

[0013] In some embodiments, the claw driving mechanism for the claw machine further includes a claw driving mechanism; the first motion transmission mechanism drives the mechanical claw to move through the claw driving mechanism.

[0014] In some embodiments, the claw driving mechanism includes a second motion-type drive device capable of moving under the drive of the first motion-type transmission mechanism; and a second motion-type transmission mechanism capable of driving the mechanical claw in a third direction under the drive of the second motion-type drive device. Thus, the claw driving mechanism can drive the mechanical claw in both the second and third directions.

[0015] In some embodiments, the second motion driving device and the motion driven wheel are arranged on the same side of the first motion driving device to improve the compactness of the structure of the claw driving mechanism; and / or the second motion transmission mechanism includes a retracting wheel that can rotate under the drive of the second motion driving device to retract and release the rope that pulls the mechanical claw, and the rope wrapped around the outer circumference of the retracting wheel, and the rotating axis of the retracting wheel is parallel to the second direction, thereby making the movement direction of the mechanical claw driven by the rope perpendicular to the second direction, that is, the second direction is perpendicular to the third direction, so as to improve the position adjustment efficiency of the mechanical claw.

[0016] In some embodiments, the claw drive mechanism for the claw machine also includes a casing, the first motion drive device and the second motion drive device are arranged inside the casing, and the motion driving wheel, the motion driven wheel and the retractable wheel are arranged outside the casing to improve the compactness and simplicity of the structure of the claw drive mechanism; preferably, the motion driving wheel and the retractable wheel are arranged on different sides of the casing to reduce the mutual interference between the motion driving wheel and the retractable wheel, thereby further improving the compactness of the structure of the claw drive mechanism.

[0017] According to another aspect of the present application, an overhead crane is provided, comprising the aforementioned claw driving mechanism for a claw machine and a first motion mechanism for driving the claw driving mechanism to move in a first direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a structural diagram of a claw drive mechanism for a claw machine according to one embodiment of the present invention;

[0019] Figure 2 for Figure 1 A schematic structural diagram of a claw drive mechanism for a claw machine from another perspective is shown;

[0020] Figure 3 for Figure 1 A schematic structural diagram of a claw drive mechanism for a claw machine from another perspective is shown;

[0021] Figure 4 for Figure 3 A schematic cross-sectional structure diagram of a claw drive mechanism for a claw machine along the AA direction is shown;

[0022] Figure 5 for Figure 3 A schematic cross-sectional structure diagram of a claw drive mechanism for a claw machine along the BB direction is shown;

[0023] Figure 6 for Figure 3 A schematic structural diagram of a claw drive mechanism for a claw machine from another perspective is shown;

[0024] Figure 7 for Figure 6 A schematic cross-sectional structure diagram of a claw drive mechanism for a claw machine along the CC direction is shown;

[0025] Figure 8 This is a schematic structural diagram of an overhead crane according to one embodiment of the present invention;

[0026] Figure 9 for Figure 8 A structural diagram of the overhead crane from another perspective is shown;

[0027] Figure 10 for Figure 8 The enlarged structural diagram of the M part is shown;

[0028] Figure 11 This is a partial structural diagram of a claw machine according to one embodiment of the present invention;

[0029] Figure 12 This is a schematic diagram of the module structure of a claw machine according to one embodiment of the present invention;

[0030] Reference numerals: 100, frame; 20, first motion mechanism; 21, fixed drive device; 22, fixed guide mechanism; 221, fixed guide rail; 222, fixed guide slider; 2221, first through hole; 2222, opening slot; 23, fixed transmission mechanism; 231, fixed driving wheel; 2311, receiving slot; 232, fixed driven wheel; 233, cable; 30, claw driving mechanism; 31, first motion transmission mechanism; 311, first motion guide rail; 312, motion driving wheel ; 3121. Guide groove; 3122. Rubber ring; 313. Movable driven wheel; 32. First motion drive device; 33. Movable guide mechanism; 331. Second motion guide rail; 332. Movable guide slider; 341. Second motion drive device; 342. Second motion transmission mechanism; 3421. Retractable wheel; 3422. Wire rope; 35. Casing; 40. Mechanical claw; 50. Centering sensing system; 51. Control module; 52. First positioning block; 53. Second positioning block; 54. Sensor. DETAILED DESCRIPTION

[0031] It should be noted that, unless there is any conflict, the embodiments and features in the embodiments of this application can be combined with each other.

[0032] It should also be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "include" and "comprise" include not only those elements, but also other elements that are not explicitly listed, or also include elements inherent to such processes, methods, articles or equipment. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or equipment that includes the elements. The terms used in this article are generally terms commonly used by those skilled in the art. If they are inconsistent with commonly used terms, the terms in this article shall prevail.

[0033] Furthermore, for ease of description, spatially relative terms such as "below," "beneath," "lower," "above," and "upper" may be used herein to describe the relationship of one element or component to another (or additional) elements or components as illustrated in the figures. Spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. The device may be otherwise oriented (rotated 90 degrees or at other orientations), and the spatially relative descriptors used herein should be interpreted accordingly.

[0034] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0035] Figures 1 to 7 The figure schematically shows a claw driving mechanism for a claw machine according to one embodiment of the present invention.

[0036] like Figure 5 As shown, the claw driving mechanism 30 includes a first movable guide rail 311, a movable driving wheel 312, a movable driven wheel 313 and a first movable driving device 32. Figure 1As shown, the first movable guide rail 311 is arranged along the second direction Y; the outer periphery of the movable driving wheel 312 abuts against one side of the first movable guide rail 311, and the outer periphery of the movable driven wheel 313 abuts against the side of the first movable guide rail 311 away from the movable driving wheel 312 to clamp the first movable guide rail 311. In some embodiments, as Figure 5 As shown, the first motion drive device 32 is a second rotary motor. The motion drive wheel 312 is coaxially connected to the rotating shaft of the second rotary motor, enabling the motion drive wheel 312 to rotate under the drive of the second rotary motor. The motion driven wheel 313 is pivotally mounted relative to the second rotary motor. For example, the motion driven wheel 313 is directly pivotally mounted on the base of the second rotary motor. In another example, the base of the second rotary motor is mounted on the housing 35, and the motion driven wheel 313 is pivotally mounted on the housing 35. When the second rotary motor drives the motion drive wheel 312 to rotate, it drives the second rotary motor and the mechanical claw to move together. The second rotary motor can be directly connected to the mechanical claw or connected to the mechanical claw through a claw driving mechanism that can drive the mechanical claw to reciprocate in a third direction Z. Driven by the claw driving mechanism 30, the mechanical claw can move in the second direction Y and the third direction Z, thereby facilitating adjustment of the mechanical claw's position in two-dimensional space. Since the movable driving wheel 312 and the movable driven wheel 313 can clamp the first movable guide rail 311, when the movable driving device drives the movable driving wheel 312 to move along the extension direction of the first movable guide rail 311 to drive the mechanical claw to move, the stability of the mechanical claw driven by the claw driving mechanism 30 in driving the movement of the mechanical claw can be improved by clamping the first movable guide rail 311 through the movable driving wheel 312 and the movable driven wheel 313.

[0037] like Figure 1 、 Figure 3 and Figure 5 As shown, the first movable guide rail 311 , the movable driving wheel 312 and the movable driven wheel 313 constitute the first movable transmission mechanism 31 of one embodiment of the present invention.

[0038] In some preferred embodiments, Figure 1 As shown, there are more than two movable driven wheels 313, and they are arranged along the extension direction of the first movable guide rail 311, so that when the movable driving wheel 312 and the movable driven wheel 313 move along the extension direction of the first movable guide rail 311, the shaking of the movable driving wheel 312 and the movable driven wheel 313 relative to the first movable guide rail 311 can be further reduced.

[0039] In some other preferred embodiments, there are more than two movable driving wheels 312 , and they are arranged along the extension direction of the first movable guide rail 311 .

[0040] In some preferred embodiments, Figure 1 As shown, a guide groove 3121 is integrally formed or machined on the outer periphery of the movable driving wheel 312, adapted to the outer periphery of the first movable guide rail 311. The guide groove 3121 on the outer periphery of the movable driving wheel 312 is a through groove provided along the circumference of the movable driving wheel 312. Thus, by accommodating the first movable guide rail 311 in the guide groove 3121, the movable driving wheel 312 provided with the guide groove 3121 can be prevented from sliding off the first movable guide rail 311 when the movable driving wheel 312 moves along the extension direction of the first movable guide rail 311.

[0041] In other preferred embodiments, a guide groove 3121 adapted to the periphery of the first movable guide rail 311 is integrally formed or processed on the periphery of the movable driven wheel 313. The guide groove 3121 on the periphery of the movable driven wheel 313 is a through groove arranged along the circumference of the movable driven wheel 313.

[0042] In some preferred embodiments, Figure 5 As shown, the movable driving wheel 312 is arranged below the movable driven wheel 313, so that the weight of the first movable guide rail 311 falls on the outer periphery of the movable driving wheel 312, thereby increasing the friction between the first movable guide rail 311 and the movable driving wheel 312, and improving the stability of the movable driving wheel 312 relative to the first movable guide rail 311 when the first movable driving device 32 drives the movable driving wheel 312 to rotate.

[0043] In some preferred embodiments, Figure 5 As shown, the movable driving wheel 312 contacts the first movable guide rail 311 through the rubber layer provided on its surface. The first movable guide rail 311 is an optical axis. Thus, not only can the friction between the movable driving wheel 312 and the first movable guide rail 311 be improved, but also the noise when the movable driving wheel 312 moves along the extension direction of the first movable guide rail 311 can be reduced. Preferably, continue to refer to Figure 5 As shown, the rubber layer is arranged in the guide groove 3121 of the moving driving wheel 312 to improve the stability of the rubber layer being sleeved on the outer periphery of the moving driving wheel 312. In some specific embodiments, as Figure 5 As shown, the rubber layer is realized by two rubber rings 3122 sleeved on the outer circumference of the movable driving wheel 312. The raw materials of the rubber rings 3122 are easy to obtain, and the two rubber rings 3122 can clamp the first movable guide rail 311 therebetween to prevent the movable driving wheel 312 from shaking relative to the first movable guide rail 311.

[0044] In other preferred embodiments, the movable driven wheel 313 contacts the first movable guide rail 311 through a rubber layer provided on the surface thereof, and the first movable guide rail 311 is an optical axis.

[0045] In some preferred embodiments, Figure 2 and Figure 5 As shown, the claw driving mechanism 30 also includes a second movable guide rail 331 and a movable guide slider 332 adapted to each other; wherein the second movable guide rail 331 extends along the second direction and is arranged on the fixed guide slider 222; the first movable driving device 32 is arranged on the movable guide slider 332. The second movable guide rail 331 and the movable guide slider 332 constitute the movable guide mechanism 33 of one embodiment of the present invention. This improves the stability of the first movable transmission mechanism 31 driving the mechanical claw to move along the second direction. Preferably, as Figure 2 As shown, the second movable guide rail 331 is an optical axis; the movable guide slider 332 is a linear bearing to ensure the straightness and smoothness of the movement of the movable guide slider 332.

[0046] In some preferred embodiments, Figure 7 As shown, the claw driving mechanism 30 further includes a second motion driving device 341, a wire rope 3422 and a retractable wheel 3421. Figure 5 and Figure 7 As shown, the second motion-type drive device 341 is fixedly disposed relative to the first motion-type drive device 32 so as to be movable under the drive of the first motion-type transmission mechanism 31. This can be achieved, for example, through the following embodiments: For example, when the second motion-type drive device 341 is a third rotary motor, the base of the third rotary motor is fixedly connected to the base of the second rotary motor; in another example, the second motion-type drive device 341 and the first motion-type drive device 32 are both mounted on the housing 35; in another example, the second motion-type drive device 341 and the first motion-type drive device are both mounted on the motion guide slider 332. In some specific embodiments, the retractable wheel 3421 is a roller. The retractable wheel 3421 is coaxially connected to the third rotary motor. One end of the string 3422 is wrapped around the outer circumference of the retractable wheel 3421, and the other end is connected to the mechanical claw. Thus, when the third rotary motor drives the retractable wheel 3421 to rotate, the retractable wheel 3421 can wind the line 3422 around the retractable wheel 3421, or release the line 3422 from the retractable wheel 3421 (the winding and releasing of the line 3422, also known as the retraction and extension of the line 3422, can be achieved by adjusting the rotation direction of the retractable wheel 3421), so as to drive the mechanical claw to rise and fall. In some specific embodiments, the rotating shaft of the third rotary motor is parallel to the second direction Y, so as to drive the mechanical claw on the line 3422 to rise or fall along the third direction Z, and the third direction Z is perpendicular to the second direction Y to improve the efficiency of the position adjustment of the mechanical claw. Preferably, the second motion drive device 341 and the motion driven wheel 313 are arranged on the same side of the first motion drive device 32 to improve the compactness of the structure of the claw drive mechanism 30.

[0047] like Figure 1 、 Figure 3 and Figure 6 As shown, the line 3422 and the retractable wheel 3421 constitute the second motion transmission mechanism 342 of one embodiment of the present invention.

[0048] The second motion driving device 341 and the second motion transmission mechanism 342 constitute a claw driving mechanism of an embodiment of the present invention. The first motion transmission mechanism 31 drives the mechanical claw to move through the claw driving mechanism.

[0049] In some preferred embodiments, Figure 1 As shown, the claw driving mechanism 30 further includes a housing 35, a first motion driving device 32 and a second motion driving device 341 are disposed inside the housing 35, and a motion driving wheel 312, a motion driven wheel 313, and a retractable wheel 3421 are disposed outside the housing 35 to improve the compactness and simplicity of the structure of the claw driving mechanism 30. Preferably, the motion driving wheel 312 and the retractable wheel 3421 are disposed on different sides of the housing 35 to reduce mutual interference between the motion driving wheel 312 and the retractable wheel 3421, further improving the compactness of the structure of the claw driving mechanism 30.

[0050] Figures 8 to 10 An overhead travelling crane according to an embodiment of the present invention is schematically shown.

[0051] like Figure 8 and Figure 9 As shown, the overhead crane includes the aforementioned claw driving mechanism 30 for the claw machine; and a first motion mechanism 20 for driving the claw driving mechanism to move along the first direction X, so that the mechanical claw can move along the first direction X, the second direction Y, and the third direction Z under the drive of the overhead crane, so as to adjust the position of the mechanical claw in three-dimensional space.

[0052] like Figure 8 and Figure 9As shown, the overhead travelling crane comprises a first rotating motor, a fixed driving wheel 231, a fixed driven wheel 232, a cable 233, a fixed guide rail 221 and a fixed guide slide block 222. The base of the first rotating motor is fixedly mounted on the frame 100 of the claw machine, and it can be directly mounted on the frame 100 or mounted on the frame 100 via a bracket. The fixed driving wheel 231 is coaxially connected to the rotating shaft of the first rotating motor, and for example, the coaxial connection of the two can be achieved by a coupling to realize the driving of the first rotating motor to the fixed driving wheel 231. The fixed driven wheel 232 is pivotally arranged on the frame 100 of the claw machine around its central axis, and it can be directly mounted on the frame 100 or mounted on the frame 100 via a bracket. The fixed driving wheel 231 drives the fixed driven wheel 232 to rotate synchronously by being sleeved on its periphery and the cable 233 sleeved on the periphery of the fixed driven wheel 232. The cable 233 is connected to the fixed guide slider 222. The fixed guide slider 222 is adapted to the fixed guide rail 221. The fixed guide rail 221 is installed on the frame 100 of the claw machine. The claw drive mechanism 30 is set on the fixed guide slider 222.

[0053] When the first rotating motor drives the fixed driving wheel 231 to rotate, the fixed driving wheel 231 drives the fixed driven wheel 232 to rotate through the cable 233, and the cable 233 moves along the periphery of the fixed driving wheel 231 and the fixed driven wheel 232; while the cable 233 moves, it drives the fixed guide slider 222 to reciprocate along the first direction X extending from the fixed guide rail 221 (the movement direction of the fixed guide rail 221 can be controlled by controlling the rotation direction of the fixed driving wheel 231), and while the fixed guide slider 222 moves, it drives the claw driving mechanism 30 to move together. Since the first rotating motor is fixedly mounted on the frame 100 of the doll machine, when the first rotating motor drives the fixed driving wheel 231 and the cable 233 to drive the fixed guide slider 222 to move, there is no need to bear the weight of the first rotating motor itself, and the weight of the cable 233 is also relatively light. Compared with the solution where the rotating motor on the existing overhead crane needs to bear its own weight, the first rotating motor of the present application needs to bear a lower load, and only needs to use a low-energy, small-volume rotating motor to operate normally.

[0054] In some specific embodiments, Figure 9 As shown, the fixed driving wheel 231 and the fixed driven wheel 232 are implemented as rollers.

[0055] like Figure 8 and Figure 9 As shown, the fixed guide rail 221 and the fixed guide slider 222 adapted to each other constitute the fixed guide mechanism 22 of one embodiment of the present invention. Figures 8 to 10As shown, the fixed guide rail 221 is an optical axis; the fixed guide slider 222 is a linear bearing to ensure the straightness and smoothness of the fixed guide slider 222 in operation.

[0056] like Figure 8 and Figure 9 As shown, the fixed driving wheel 231, the fixed driven wheel 232 and the cable 233 constitute the fixed transmission mechanism 23 of one embodiment of the present invention. Since the cable 233 is used to pull the fixed guide slider 222 to reciprocate along the extension direction of the fixed guide rail 221, a small space can be occupied and low noise and smooth transmission can be achieved.

[0057] like Figure 8 As shown, the first rotating motor constitutes the fixed drive device 21 of one embodiment of the present invention. Therefore, a rotating motor with a large torque of a speed reducer can be selected. Moreover, since the first rotating motor of the present application has a low load, its service life is longer.

[0058] As other embodiments of the fixed drive device 21, the fixed drive device 21 can use a linear motor, a cylinder or an oil cylinder to drive the rack to rotate the gear or drive the worm to rotate the worm wheel, and drive the fixed driving wheel 231 to rotate through the gear or worm wheel.

[0059] like Figure 8 As shown, the fixed drive device 21 , the fixed guide mechanism 22 and the fixed transmission mechanism 23 constitute the first motion mechanism 20 of one embodiment of the present invention.

[0060] In some preferred embodiments, in order to improve the stability of the cable 233 being wound around the fixed driving wheel 231 and the movable driving wheel 312, a receiving groove 2311 for receiving the cable 233 is provided on the outer circumference of the fixed driving wheel 231 and the fixed driven wheel 232. The receiving groove 2311 is a through groove provided along the circumference of the fixed driving wheel 231 and the fixed driven wheel 232. Figure 8 and Figure 9 As shown, the cable 233 can be stably wound in the receiving groove 2311 on the outer periphery of the fixed driving wheel 231 and the fixed driven wheel 232 during the rotation of the fixed driving wheel 231 and the fixed driven wheel 232.

[0061] In some preferred embodiments, in order to facilitate the processing of the fixed guide slider 222 and the connection with the cable 233, a first through hole 2221 having a size larger than the diameter of the cable 233 is integrally formed or processed on the fixed guide slider 222, and the extension direction of the first through hole 2221 is different from the extension direction of the cable 233 located between the fixed driving wheel 231 and the fixed driven wheel 232. Figure 8 and Figure 10As shown, the cable 233 can be installed on the fixed guide slider 222 by passing it through the first through hole 2221 on the fixed guide slider 222, which is convenient to operate. When the fixed driving wheel 231 drives the cable 233 to move, the cable 233 can drive the fixed guide slider 222 to move along the extension direction of the fixed guide rail 221 through the friction between the cable 233 and the fixed guide slider 222. Further preferably, to facilitate the assembly and disassembly of the cable 233 and the fixed guide slider 222, an opening groove 2222 is integrally formed or processed on the fixed guide slider 222. The opening groove 2222 is located on one side of the first through hole 2221 and connects the first through hole 2221 to the outside. The size of the first through hole 2221 is larger than the size of the opening groove 2222. The width of the opening groove 2222 is larger than the diameter of the cable 233. Thus, the cable 233 can be assembled and disassembled with the fixed guide slider 222 by moving the cable 233 from the opening slot 2222 into or out of the first through hole 2221. This operation does not require cutting the cable 233, making the operation convenient. Furthermore, because the size of the opening slot 2222 is smaller than that of the first through hole 2221, the cable 233 installed in the first through hole 2221 will not be easily removed from the opening slot 2222 without human intervention, thereby ensuring the stability of the assembly of the cable 233 with the fixed guide slider 222. Preferably, the opening slot 2222 is square in shape to further ensure that the cable 233 installed in the first through hole 2221 will not be easily removed from the opening slot 2222.

[0062] In some preferred embodiments, Figure 8 As shown, two groups of fixed guide mechanisms 22 are provided, and both ends of the first movable guide rail 311 are respectively provided on the two groups of fixed guide mechanisms 22, specifically on the fixed guide slider 222, so as to improve the stability of the fixed guide mechanism 22 in driving the first movable guide rail 311 to move.

[0063] In some specific embodiments, Figure 8 As shown, the first motion guide rail 311 is installed on the fixed guide slider 222 in the first motion mechanism 20 so that the claw driving mechanism 30 can move under the drive of the first motion mechanism 20.

[0064] In some preferred embodiments, Figure 8 As shown, two groups of fixed guide mechanisms 22 are provided, and both ends of the second movable guide rail 331 are respectively provided on the two groups of fixed guide mechanisms 22, specifically on the fixed guide slider 222, so as to improve the stability of the fixed guide mechanism 22 in driving the second movable guide rail 331 to move.

[0065] Figure 11A claw machine including an overhead crane according to one embodiment of the present invention is schematically shown.

[0066] like Figure 11 As shown, a claw machine including an overhead crane includes a frame 100; the aforementioned overhead crane, wherein the first motion mechanism 20 of the overhead crane is disposed on the frame 100; a mechanical claw 40 disposed on the overhead crane; and a centering sensing system 50 disposed on the frame 100 and the overhead crane. The centering sensing system 50 is configured to control the first motion mechanism 20 and the claw drive mechanism 30 to drive the mechanical claw 40 to a position centered relative to the frame 100 after the mechanical claw 40 attempts to grasp a target object. Compared to previous methods in which the mechanical claw 40 is positioned at the storage opening, the mechanical claw 40 automatically centers itself before each user uses the claw machine of the present application, saving the user operation time.

[0067] In some embodiments, as Figure 11 and Figure 12 As shown, the centering sensing system 50 includes a control module 51, a first positioning block 52, a second positioning block 53, and a sensor 54. The first positioning block 52 and the second positioning block 53 are located in the middle of two adjacent sides of the frame 100. The control module 51 is configured to control the overhead traveling crane to drive the mechanical claw 40 toward the other of the first positioning block 52 and the second positioning block 53 upon receiving a signal from the sensor 54 for the first time that the sensor 54 detects one of the first positioning block 52 and the second positioning block 53. For example, one of the first motion mechanism 20 and the claw drive mechanism 30 drives the mechanical claw 40 to move to one of the first positioning block 52 and the second positioning block 53. At this point, the control module 51 receives a detection signal from the primary sensor 54. The control module 51 then controls the other of the first motion mechanism 20 and the claw drive mechanism 30 to drive the mechanical claw 40 to the other of the first positioning block 52 and the second positioning block 53. When the control module 51 receives a detection signal from the sensor 54 again, the control module 51 controls the first motion mechanism 20 and the claw drive mechanism 30 to stop driving. More specifically, the control module 51's control of the first motion mechanism 20 is embodied in its control of the fixed drive device 21. The control module 51's control of the claw drive mechanism 30 is embodied in its control of the first motion drive device 32. The control module 51 can be implemented, for example, as an MCU or single-chip microcomputer. For example, an infrared sensor, a force sensor, or a proximity sensor can be employed. In some embodiments, the sensor 54 is disposed on the housing 35.

[0068] In the present application, the mechanical claw 40 can be any mechanical claw commonly used in the prior art, and the present application does not limit the specific implementation method of the mechanical claw.

[0069] In the present invention, connection or installation, unless otherwise specified, refers to a fixed connection. Fixed connections can be implemented as either removable or non-removable connections commonly used in the prior art. Removable connections can be implemented using existing technologies, such as threaded connections or key connections. Non-removable connections can also be implemented using existing technologies, such as welding or gluing.

[0070] The above descriptions are only some embodiments of the present invention. For those skilled in the art, several modifications and improvements can be made without departing from the inventive concept of the present invention, and these all fall within the scope of protection of the present invention.

Claims

1. A claw driving mechanism (30) for a claw machine, characterized in that: include: a first kinematic transmission mechanism (31); and a first motion-type driving device (32) provided on the first motion-type transmission mechanism (31) and used for driving the first motion-type transmission mechanism (31) to drive the mechanical claw (40) to move; wherein, The first motion transmission mechanism (31) includes a first motion guide rail (311) extending in a second direction, a motion driving wheel (312) capable of rotating under the drive of the first motion driving device (32), and a motion driven wheel (313) pivotally arranged relative to the first motion driving device (32); The moving driving wheel (312) and the moving driven wheel (313) are arranged on two opposite sides of the first moving guide rail (311) and are capable of clamping the first moving guide rail (311).

2. The claw driving mechanism (30) for a claw machine according to claim 1, characterized in that: At least one of the movable driving wheel (312) and the movable driven wheel (313) is provided with two or more, and is arranged along the extension direction of the first movable guide rail (311); and / or A guide groove (3121) adapted to the outer periphery of the first movable guide rail (311) is provided on the outer periphery of at least one of the movable driving wheel (312) and the movable driven wheel (313).

3. The claw driving mechanism (30) for a claw machine according to claim 1, characterized in that: The moving driving wheel (312) is arranged below the moving driven wheel (313); and / or At least one of the moving driving wheel (312) and the moving driven wheel (313) contacts the first moving guide rail (311) through a rubber layer provided on its surface, and the first moving guide rail (311) is an optical axis.

4. The claw driving mechanism (30) for a claw machine according to any one of claims 1 to 3, characterized in that: It also includes a kinematic guide mechanism (33) for providing guidance for the transmission of the first kinematic transmission mechanism (31).

5. The claw driving mechanism (30) for a claw machine according to claim 4, characterized in that: The kinematic guide mechanism (33) comprises a second kinematic guide rail (331) and a kinematic guide slider (332) adapted to each other; wherein, The second movable guide rail (331) extends along a second direction; The first movable drive device (32) is arranged on the movable guide slider (332).

6. The claw driving mechanism (30) for a claw machine according to any one of claims 1 to 3, characterized in that: Also includes a claw driving mechanism; The first motion transmission mechanism (31) drives the mechanical claw (40) to move via the claw driving mechanism.

7. The claw driving mechanism (30) for a claw machine according to claim 6, characterized in that: The claw driving mechanism includes: a second motion-type driving device (341) capable of moving under the drive of the first motion-type transmission mechanism (31); and a second motion transmission mechanism (342) capable of driving the mechanical claw (40) to move along a third direction under the drive of the second motion drive device (341).

8. The claw driving mechanism (30) for a claw machine according to claim 7, characterized in that: The second kinetic driving device (341) and the kinetic driven wheel (313) are arranged on the same side of the first kinetic driving device (32); and / or The second motion transmission mechanism (342) includes a retracting wheel (3421) that can rotate under the drive of the second motion driving device (341) to retract and retract the rope (3422) that pulls the mechanical claw (40), and the rope (3422) wound around the outer circumference of the retracting wheel (3421), and the rotating axis of the retracting wheel (3421) is parallel to the second direction.

9. The claw driving mechanism (30) for a claw machine according to claim 8, characterized in that: The machine further comprises a housing (35), wherein the first motion-type driving device (32) and the second motion-type driving device (341) are arranged inside the housing (35), and the motion-type driving wheel (312), the motion-type driven wheel (313) and the retractable wheel (3421) are arranged outside the housing (35); The moving driving wheel (312) and the retracting and extending wheel (3421) are arranged on different sides of the housing (35).

10. Overhead crane, characterized in that include: The claw driving mechanism (30) for a claw machine according to any one of claims 1 to 9; and a first motion mechanism (20) for driving the claw driving mechanism (30) to move along a first direction.

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