Crown block and doll machine comprising same

Abstract

The utility model discloses a crown block and a doll machine comprising the crown block, the crown block comprises a first movement mechanism used for driving a clamping jaw driving mechanism to move, and a driving device in the first movement mechanism is arranged to be fixed relative to a rack of the doll machine. The driving equipment in the first movement mechanism used for driving the clamping jaw driving mechanism to move is fixedly arranged relative to the rack of the doll machine, that is, when the first movement mechanism drives the clamping jaw driving mechanism to move, the driving equipment in the first movement mechanism and the clamping jaw driving mechanism cannot be driven to move synchronously, so that the clamping jaw driving mechanism is driven to move synchronously; the load of the driving equipment in the first movement mechanism can be reduced, so that the standard of the driving equipment in the first movement mechanism can be met by selecting the driving equipment with low energy consumption and small size.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of doll machine accessories, and particularly relates to a crown block and a doll machine comprising the crown block. BACKGROUND

[0002] The doll machine, also known as a doll clamping machine, a doll grabbing machine or a doll clamping machine, is a common electronic game machine, which is usually found in entertainment places such as shopping malls, supermarkets, cinemas and game rooms. When a player uses the doll machine, the player can first control the crown block of the doll machine to move the mechanical claw to the target object (a doll or other small gifts) by operating the control lever of the doll machine; then, the player controls the crown block to attempt to grab the target object by operating the control button.

[0003] Since the movement and grabbing action of the mechanical claw are controlled by the crown block, the crown block is a key component of the doll machine, and the structure and performance of the crown block play a key role in the performance of the doll machine.

[0004] The existing crown block mainly comprises a motor and a track, wherein the track comprises, for example, an X track and a Y track, and the motor comprises a motor (referred to as a motor a for the sake of convenience) for driving the Y track to move along the X track, a motor (referred to as a motor b for the sake of convenience) for driving the mechanical claw to move along the Y track, and a motor (referred to as a motor c for the sake of convenience) for driving the mechanical claw to move in the Z direction. However, at present, the motor a is generally large in size, which not only affects the aesthetic appearance of the doll machine, but also has a large energy consumption. SUMMARY

[0005] To solve at least one of the above problems, the utility model person repeatedly researches the existing doll machine, finds that the main reason for the large size of a motor is that a motor is arranged on the X track (for example, the utility model patent named a crown block disclosed in announcement No. CN208916631 U), a motor also needs to drive itself to move along the X track, that is, the load of a motor is large, which requires a motor to have large power, resulting in high energy consumption and large size of a motor. This not only affects the aesthetic degree of the doll machine, but also affects the service life of a motor due to the large load of a motor. Based on the above findings, the utility model person repeatedly adjusts the mechanism of the traditional crown block, and in an accidental adjustment process, the utility model person thinks that a motor is arranged on the rack of the doll machine, that is, a motor no longer moves along the X track together while driving the Y track along the X track, thereby reducing the load and energy consumption of a motor, and the utility model person selects a small motor to meet the driving requirements. Moreover, due to the reduction of the load of a motor, the service life of a motor is also increased. Thus, according to one aspect of the utility model, a crown block is provided. The crown block comprises a first movement mechanism for driving the movement of a claw driving mechanism, wherein the driving device in the first movement mechanism is arranged to be fixed relative to the rack of the doll machine.

[0006] Since the driving device (such as a motor) in the first movement mechanism for driving the movement of the claw driving mechanism is arranged to be fixed relative to the rack of the doll machine, that is, the driving device and the claw driving mechanism in the first movement mechanism do not move synchronously during the movement of the first movement mechanism driving the claw driving mechanism, thereby reducing the load of the driving device in the first movement mechanism, so that a low-energy-consumption, small-size driving device can meet the standard of the driving device in the first movement mechanism.

[0007] In some embodiments, the first movement mechanism comprises a fixed driving device arranged to be fixed relative to the rack; a fixed guide mechanism for providing guidance for the movement of the claw driving mechanism; and a fixed transmission mechanism for driving the movement of the fixed guide mechanism under the driving of the fixed driving device.

[0008] Since the fixed driving device is arranged to be fixed relative to the rack, the load of the fixed driving device can be reduced, so that it is possible to drive the movement of the claw driving mechanism with a low-energy-consumption, small-size fixed driving device; and since the fixed guide mechanism for providing guidance for the movement of the claw driving mechanism is arranged, the stability of the movement of the claw driving mechanism can be ensured.

[0009] In some embodiments, the fixed driving device is a rotating motor; the fixed transmission mechanism comprises a fixed driving wheel driven by the rotating motor, a fixed driven wheel pivotally arranged relative to the frame, and a cable capable of driving the fixed driven wheel to rotate synchronously under the drive of the fixed driving wheel; wherein the cable is arranged to be capable of driving the fixed guide mechanism to move.

[0010] Since the fixed driven wheel in the fixed transmission mechanism is fixedly arranged relative to the frame, the fixed driving wheel can be arranged on the fixed driving device or not arranged on the fixed driving device but only driven by the fixed driving device. Compared with common gear transmission, worm gear transmission, screw nut transmission and the like, the fixed transmission mechanism has the advantages of lighter weight, smaller volume, more compact appearance, less interference with external structure and higher safety.

[0011] In some embodiments, an accommodating groove for accommodating the cable is arranged along the outer periphery of at least one of the fixed driving wheel and the fixed driven wheel. Since the cable is wound around the outer periphery of the fixed driving wheel and the fixed driven wheel, when the fixed driving device drives the fixed driving wheel to rotate, the fixed driving wheel drives the cable wound around the outer periphery thereof to move in the tangential direction of the fixed driving wheel, and at the same time, the cable drives the fixed driven wheel to rotate. The present application can improve the stability of the cable wound around the fixed driving wheel and the movable driving wheel by arranging the accommodating groove for accommodating the cable on the outer periphery of the fixed driving wheel and / or the fixed driven wheel, thereby improving the stability of the fixed transmission mechanism.

[0012] In some embodiments, the fixed guide mechanism comprises at least one set of fixed guide rails and fixed guide blocks matched with each other; wherein the fixed guide rails are fixedly arranged relative to the frame and extend in the first direction; the pawl driving mechanism is arranged on the fixed guide block; and the fixed transmission mechanism is arranged to be capable of driving the fixed guide block to reciprocate in the first direction. Thus, the stability of the first movement mechanism in driving the pawl driving mechanism to move can be improved by the fixed guide mechanism.

[0013] In some embodiments, the fixed guide block is provided with a first through hole, the size of the first through hole is greater than the diameter of the cable, and the extension direction of the first through hole is not parallel to the extension direction of the cable between the fixed driving wheel and the fixed driven wheel. Thus, the cable can pass through the first through hole, and when the fixed driving wheel drives the cable to move, the cable can drive the fixed guide block to move along the extension direction of the fixed guide rail through the friction force between the cable and the fixed guide block.

[0014] In some embodiments, the fixed guide slider is further provided with an opening slot at one side of the first through hole, which connects the first through hole with the outside; the size of the first through hole is larger than that of the opening slot; and the width of the opening slot is larger than the diameter of the cable. In this way, the assembly and disassembly of the cable and the fixed guide slider can be realized by moving the cable into or out of the first through hole from the opening slot, without cutting the cable during the operation, thus facilitating the operation.

[0015] In some embodiments, the crown further comprises a pawl driving mechanism for driving the mechanical paw to move in the second direction and / or the third direction, the pawl driving mechanism being arranged to be movable under the driving of the first moving mechanism. In this way, under the driving of the crown, the mechanical paw can move in the first direction, the second direction and the third direction, so as to adjust the position of the mechanical paw in the three-dimensional space.

[0016] In some embodiments, the pawl driving mechanism comprises a first moving transmission mechanism; and a first moving driving device arranged on the first moving transmission mechanism and used for driving the first moving transmission mechanism to drive the mechanical paw to move; wherein the first moving transmission mechanism comprises a first moving guide rail extending in the first direction and arranged on the first moving mechanism, a moving driving wheel capable of rotating under the driving of the first moving driving device, and a moving driven wheel pivotally arranged relative to the first moving driving device; the moving driving wheel and the moving driven wheel are arranged on two sides of the first moving guide rail away from each other and capable of clamping the first moving guide rail.

[0017] In this way, when the moving driving device drives the first moving transmission mechanism to drive the mechanical paw to move, the first moving transmission mechanism can improve the stability of driving the mechanical paw to move due to the clamping of the first moving guide rail by the driving wheel and the driven wheel of the first moving transmission mechanism.

[0018] According to another aspect of the present application, a doll machine comprising a crown is provided, which comprises a rack; the aforementioned crown, the first moving mechanism of the crown being arranged on the rack; a mechanical paw arranged on the crown; and a centering sensing system arranged on the rack and the crown, the centering sensing system being arranged to control the first moving mechanism and the pawl driving mechanism to drive the mechanical paw to move to a position centrally arranged relative to the rack after the mechanical paw attempts to grab a target object.

[0019] Compared with the previous mechanical paw returning to the storage port, the mechanical paw is automatically centrally returned each time before a user uses the doll machine of the present application, which can save the time of user operation. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 FIG. 1 is a structural schematic view of a crown according to an embodiment of the present application;

[0021] Figure 2 for Figure 1 a structure diagram of the overhead traveling crane from another perspective;

[0022] Figure 3 for Figure 1 a structure diagram of the overhead traveling crane from another perspective;

[0023] Figure 4 for a structure diagram of the claw driving mechanism from another perspective;

[0024] Figure 5 for Figure 4 a structure diagram of the claw driving mechanism from another perspective;

[0025] Figure 6 for Figure 4 a structure diagram of the claw driving mechanism from another perspective;

[0026] Figure 7 for Figure 6 a structure diagram of the claw driving mechanism from another perspective;

[0027] Figure 8 for Figure 6 a structure diagram of the claw driving mechanism from another perspective;

[0028] Figure 9 for Figure 6 a structure diagram of the claw driving mechanism from another perspective;

[0029] Figure 10 for Figure 9 a structure diagram of the claw driving mechanism from another perspective;

[0030] Figure 11 for a structure diagram of the claw driving mechanism from another perspective;

[0031] Figure 12 for

[0032] Label: 100, rack; 20, first movement mechanism; 21, fixed driving device; 22, fixed guide mechanism; 221, fixed guide rail; 222, fixed guide slider; 2221, first through hole; 2222, open slot; 23, fixed transmission mechanism; 231, fixed driving wheel; 2311, accommodating groove; 232, fixed driven wheel; 233, cable; 30, claw driving mechanism; 31, first movement transmission mechanism; 311, first movement guide rail; 312, movement driving wheel; 3121, guide groove; 3122, rubber ring; 313, movement driven wheel; 32, first movement driving device; 33, movement guide mechanism; 331, second movement guide rail; 332, movement guide slider; 341, second movement driving device; 342, second movement transmission mechanism; 3421, reel; 3422, wire rope; 35, casing; 40, mechanical claw; 50, centering induction system; 51, control module; 52, first positioning block; 53, second positioning block; 54, sensor. DETAILED DESCRIPTION

[0033] It should be noted that the embodiments and features of the embodiments in the present application can be combined with each other without conflict.

[0034] It should also be noted that, in this document, the terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain", not only include those elements, but also include other elements not explicitly listed, or include elements inherent to the process, method, article or device. Without more limitations, the elements defined by the statement "include" do not exclude the presence of other same elements in the process, method, article or device including the described elements. The terms used in this document are generally the terms commonly used by those skilled in the art, and if they are inconsistent with the commonly used terms, the terms in this document shall prevail.

[0035] Moreover, for the convenience of description, spatial relative terms such as "under", "below", "lower", "above", "upper" and the like can be used herein to describe the relationship of one element or component to another (or another) element or component as shown in the figure. In addition to the orientation shown in the figure, the spatial relative terms are intended to include different orientations of the device in use or operation. The device can be oriented in other ways (rotated 90 degrees or in other orientations), and the spatial relative descriptors used herein can be interpreted accordingly.

[0036] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme of the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0037] Figures 1 to 10 A crown block according to an embodiment of the present application is schematically shown.

[0038] As shown in Figure 1 and Figure 2 , the crown block 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 sliding block 222. The base of the first rotating motor is fixedly installed on the frame 100 of the doll machine, which can be directly installed on the frame 100 or installed on the frame 100 through a support. The fixed driving wheel 231 is coaxially connected with the rotating shaft of the first rotating motor, for example, the coaxial connection of the two can be achieved by means of a shaft coupling, so as to realize the driving of the fixed driving wheel 231 by the first rotating motor. The fixed driven wheel 232 is pivotally arranged around the center shaft on the frame 100 of the doll machine, which can be directly installed on the frame 100 or installed on the frame 100 through a support. The fixed driving wheel 231 drives the fixed driven wheel 232 to rotate synchronously through the cable 233 sleeved on the outer periphery of the fixed driving wheel 231 and the outer periphery of the fixed driven wheel 232. The cable 233 is connected with the fixed guide sliding block 222. The fixed guide sliding block 222 is adapted with the fixed guide rail 221. The fixed guide rail 221 is installed on the frame 100 of the doll machine. The claw driving mechanism 30 is arranged on the fixed guide sliding block 222.

[0039] 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 outer periphery of the fixed driving wheel 231 and the fixed driven wheel 232; the cable 233 drives the fixed guide slider 222 to reciprocate along the first direction X in which the fixed guide rail 221 extends (the movement direction of the fixed guide rail 221 can be controlled by controlling the rotation direction of the fixed driving wheel 231) at the same time of moving, and the fixed guide slider 222 drives the claw driving mechanism 30 to move at the same time. Since the first rotating motor is fixedly installed on the frame 100 of the doll machine, when the first rotating motor drives the fixed guide slider 222 to move through the fixed driving wheel 231 and the cable 233, the first rotating motor does not need to bear the gravity of itself, and the weight of the cable 233 is also light. Compared with the scheme that the rotating motor of the existing crown needs to bear its own gravity, the load that the first rotating motor of the present application needs to bear is lower, and only a rotating motor with low energy consumption and small size is needed to normally operate.

[0040] In some embodiments, as shown in Figure 2 The fixed driving wheel 231 and the fixed driven wheel 232 are implemented as rollers.

[0041] As shown in Figure 1 and Figure 2 The fixed guide rail 221 and the fixed guide slider 222 that are matched with each other constitute the fixed guide mechanism 22 of the embodiment of the present application. In some embodiments, as shown in Figures 1 to 3 The fixed guide rail 221 is a light shaft; and the fixed guide slider 222 is a linear bearing, so as to ensure the straightness and smoothness of the operation of the fixed guide slider 222.

[0042] As shown in Figure 1 and Figure 2 The fixed driving wheel 231, the fixed driven wheel 232 and the cable 233 constitute the fixed transmission mechanism 23 of the embodiment of the present application. Since the cable 233 is used to drive the fixed guide slider 222 to reciprocate along the extension direction of the fixed guide rail 221, the space occupied can be small, and low-noise and stable transmission can be realized.

[0043] As shown in Figure 1 The first rotating motor constitutes the fixed driving device 21 of the embodiment of the present application. Therefore, a rotating motor with large torque of a speed reducer can be selected, and since the use load of the first rotating motor of the present application is low, the service life is longer.

[0044] As another embodiment of the fixed driving device 21, the fixed driving device 21 can adopt a linear motor, a cylinder or an oil cylinder to drive a rack to rotate a gear or to drive a worm to rotate a worm wheel, and then drive the fixed driving wheel 231 to rotate through the gear or the worm wheel.

[0045] As shown in Figure 1 , the fixed driving device 21, the fixed guiding mechanism 22 and the fixed transmission mechanism 23 constitute the first motion mechanism 20 of the embodiment of the utility model.

[0046] In some preferred embodiments, in order to improve the stability of the cable 233 winding on the fixed driving wheel 231 and the movable driving wheel 312, the outer periphery of the fixed driving wheel 231 and the fixed driven wheel 232 is provided with an accommodating groove 2311 for accommodating the cable 233, and the accommodating groove 2311 is a through groove arranged along the circumferential direction of the fixed driving wheel 231 and the fixed driven wheel 232, as shown in Figure 1 and Figure 2 , so as to ensure that the cable 233 can be stably wound in the accommodating 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.

[0047] In some preferred embodiments, in order to facilitate the processing and connection of the cable 233 with the fixed guiding slider 222, a first through hole 2221 with a size larger than the diameter of the cable 233 is integrally formed or processed on the fixed guiding slider 222, and the extension direction of the first through hole 2221 is different from the extension direction of the cable 233 between the fixed driving wheel 231 and the fixed driven wheel 232, as shown in Figure 1 and Figure 3As shown, the cable 233 can be installed with the fixed guide slider 222 by passing through the first through hole 2221 on the fixed guide slider 222, and the operation is convenient. 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 with the fixed guide slider 222. Further preferably, in order to facilitate the assembly and disassembly of the cable 233 and the fixed guide slider 222, an open slot 2222 is integrally formed or processed on the fixed guide slider 222, the open slot 2222 is located at one side of the first through hole 2221 and communicates the first through hole 2221 with the outside, the size of the first through hole 2221 is greater than that of the open slot 2222, and the width of the open slot 2222 is greater than the diameter of the cable 233. Thus, the assembly and disassembly of the cable 233 and the fixed guide slider 222 can be realized by moving the cable 233 into or out of the first through hole 2221 from the open slot 2222, and the operation is convenient without cutting the cable 233 in the operation process; at the same time, since the size of the open 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 moved out of the open slot 2222 without human intervention, so as to ensure the stability of the assembly of the cable 233 and the fixed guide slider 222. Preferably, the shape of the open slot 2222 is square, so as to further ensure that the cable 233 installed in the first through hole 2221 will not be easily moved out of the open slot 2222.

[0048] In some preferred embodiments, as shown in Figure 1 and Figure 2 The crown block further includes a claw driving mechanism 30.

[0049] As shown in Figure 8 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. As shown in Figure 4 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, so as to clamp the first movable guide rail 311. In some embodiments, as shown in Figure 8As shown, the first movable driving device 32 is a second rotating motor, and the movable driving wheel 312 is coaxially connected with the rotating shaft of the second rotating motor, so that the movable driving wheel 312 can rotate under the driving of the second rotating motor. The movable driven wheel 313 is pivotally arranged relative to the second rotating motor, for example, the movable driven wheel 313 is directly pivotally arranged on the base of the second rotating motor; or for example, the base of the second rotating motor is mounted on the shell 35, and the movable driven wheel 313 is pivotally mounted on the shell 35. When the second rotating motor drives the movable driving wheel 312 to rotate, the second rotating motor and the mechanical claw are driven to move together. The second rotating motor can be directly connected with the mechanical claw, or can be connected with the mechanical claw through a claw driving mechanism capable of driving the mechanical claw to reciprocate along the third direction Z, so that under the driving of the crown block, the mechanical claw can move along the first direction X, the second direction Y and the third direction Z, so as to adjust the position of the mechanical claw in the three-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 first movable guide rail 311 is clamped by the movable driving wheel 312 and the movable driven wheel 313, which can improve the stability of the claw driving mechanism 30 in driving the mechanical claw to move.

[0050] In some preferred embodiments, as shown in Figure 1 As shown, the fixed guide mechanism 22 is provided with two groups, and the two ends of the first movable guide rail 311 are arranged on the two groups of fixed guide mechanisms 22, specifically on the fixed guide sliding blocks 222, so as to improve the stability of the fixed guide mechanism 22 in driving the first movable guide rail 311 to move.

[0051] In some specific embodiments, as shown in Figure 1 and Figure 6 As shown, the first movable guide rail 311 is mounted on the fixed guide sliding block 222 in the first movement mechanism 20, so that the claw driving mechanism 30 can move under the driving of the first movement mechanism 20.

[0052] As shown in Figure 4 , Figure 6 and Figure 8 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 an embodiment of the utility model.

[0053] In some preferred embodiments, as shown in Figure 4As shown, the motion driven wheels 313 are provided with two or more, and arranged along the extension direction of the first motion guide rail 311, so as to further reduce the shaking of the motion driven wheels 313 relative to the first motion guide rail 311 when the motion driven wheels 313 move along the extension direction of the first motion guide rail 311.

[0054] In some preferred embodiments, as shown in

[0055] In some preferred embodiments, as shown in Figure 4 As shown, the outer periphery of the motion driven wheels 313 is integrally formed or processed with guide grooves 3121 adapted to the outer periphery of the first motion guide rail 311, and the guide grooves 3121 on the outer periphery of the motion driven wheels 313 are through grooves arranged along the circumferential direction of the motion driven wheels 313. In this way, by accommodating the first motion guide rail 311 in the guide grooves 3121, the motion driven wheels 313 provided with the guide grooves 3121 can be prevented from sliding off the first motion guide rail 311 when moving along the extension direction of the first motion guide rail 311.

[0056] In some preferred embodiments, as shown in

[0057] In some preferred embodiments, as shown in Figure 8 As shown, the motion driven wheels 313 are provided with two or more, and arranged along the extension direction of the first motion guide rail 311, so as to further reduce the shaking of the motion driven wheels 313 relative to the first motion guide rail 311 when the motion driven wheels 313 move along the extension direction of the first motion guide rail 311.

[0058] In some preferred embodiments, as shown in Figure 8 As shown, the motion driven wheels 313 are provided with two or more, and arranged along the extension direction of the first motion guide rail 311, so as to further reduce the shaking of the motion driven wheels 313 relative to the first motion guide rail 311 when the motion driven wheels 313 move along the extension direction of the first motion guide rail 311. Figure 8As 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 8 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.

[0059] 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.

[0060] In some preferred embodiments, Figure 5 and Figure 8 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 an embodiment of the present utility model. This improves the stability of the first movable transmission mechanism 31 driving the mechanical claw to move along the second direction. Preferably, as Figure 5 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.

[0061] In some preferred embodiments, Figure 1 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.

[0062] In some preferred embodiments, Figure 10 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 8 and Figure 10As shown, the second movement type driving device 341 is fixedly arranged opposite to the first movement type driving device 32, and can move under the drive of the first movement type transmission mechanism 31. The specific implementation manners are, for example, as follows: when the second movement type driving device 341 is a third rotating motor, the base of the third rotating motor is fixedly connected with the base of the second rotating motor; when the second movement type driving device 341 and the first movement type driving device 32 are both mounted on the casing 35; or when the second movement type driving device 341 and the first movement type driving device 32 are both mounted on the movement type guiding slider 332. In some specific embodiments, the take-up reel 3421 is a roller. The take-up reel 3421 is coaxially connected with the third rotating motor, one end of the wire rope 3422 is wound on the outer periphery of the take-up reel 3421, and the other end is connected with the mechanical claw. Thus, when the third rotating motor drives the take-up reel 3421 to rotate, the take-up reel 3421 can wind the wire rope 3422 on the take-up reel 3421, or release the wire rope 3422 from the take-up reel 3421 (the winding and releasing of the wire rope 3422, also known as the winding and releasing of the wire rope 3422, can be realized by adjusting the rotating direction of the take-up reel 3421), so as to drive the mechanical claw to ascend or descend. In some specific embodiments, the rotating shaft of the third rotating motor is parallel to the second direction Y, so as to drive the mechanical claw on the wire rope 3422 to ascend or descend along the third direction Z, and the third direction Z is perpendicular to the second direction Y, so as to improve the position adjustment efficiency of the mechanical claw. Preferably, the second movement type driving device 341 and the movement type driven wheel 313 are arranged on the same side of the first movement type driving device 32, so as to improve the compactness of the structure of the claw driving mechanism 30.

[0063] As shown in Figure 4 , Figure 6 and Figure 9 , the wire rope 3422 and the take-up reel 3421 constitute the second movement type transmission mechanism 342 of an embodiment of the utility model.

[0064] The second movement type driving device 341 and the second movement type transmission mechanism 342 constitute the claw driving mechanism of an embodiment of the utility model. The first movement type transmission mechanism 31 drives the mechanical claw to move through the claw driving mechanism.

[0065] In some preferred embodiments, as shown in Figure 4As shown, the claw driving mechanism 30 further comprises a casing 35, the first movable driving device 32 and the second movable driving device 341 are arranged inside the casing 35, and the movable driving wheel 312, the movable driven wheel 313 and the retractable wheel 3421 are arranged outside the casing 35, so as to improve the compactness and simplicity of the structure of the claw driving mechanism 30. Preferably, the movable driving wheel 312 and the retractable wheel 3421 are arranged at different sides of the casing 35, so as to reduce the mutual interference of the movable driving wheel 312 and the retractable wheel 3421, and further improve the compactness of the structure of the claw driving mechanism 30.

[0066] Figure 11 A doll machine comprising a crown block according to an embodiment of the present application is schematically shown.

[0067] As Figure 11 shown, the doll machine comprising a crown block comprises a rack 100; the aforementioned crown block, a first movement mechanism 20 of the crown block is arranged on the rack 100; a mechanical claw 40 arranged on the crown block; and a centering sensing system 50 arranged on the rack 100 and the crown block, the centering sensing system 50 is arranged to control the first movement mechanism 20 and the claw driving mechanism 30 to drive the mechanical claw 40 to move to a position centrally arranged relative to the rack 100 after the mechanical claw 40 attempts to grab a target object. Compared with the conventional mechanical claw 40 homing to the storage port, the mechanical claw 40 is automatically homed to the center each time a user uses the doll machine of the present application, which can save the user's operation time.

[0068] In some embodiments, as Figure 11 and Figure 12As shown, the centering induction system 50 comprises 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 arranged at the middle of the two adjacent sides of the rack 100. The control module 51 is arranged to control the trolley to drive the mechanical gripper 40 to move towards the other one of the first positioning block 52 and the second positioning block 53 when the sensor 54 detects a signal of one of the first positioning block 52 and the second positioning block 53 for the first time. For example, one of the first moving mechanism 20 and the jaw driving mechanism 30 can be controlled to drive the mechanical gripper 40 to move to the one of the first positioning block 52 and the second positioning block 53 at this time, and then the control module 51 receives the detection signal of the sensor 54 again. Then, the control module 51 controls the other one of the first moving mechanism 20 and the jaw driving mechanism 30 to drive the mechanical gripper 40 to move to the other one of the first positioning block 52 and the second positioning block 53, and the control module 51 controls the first moving mechanism 20 and the jaw driving mechanism 30 to stop driving when the control module 51 receives the detection signal of the sensor 54 again. More specifically, the control of the control module 51 on the first moving mechanism 20 is embodied in the control of the control module 51 on the fixed driving device 21, and the control of the control module 51 on the jaw driving mechanism 30 is embodied in the control of the control module 51 on the first moving driving device 32. The control module 51 can be an MCU or a single-chip microcomputer, for example. The sensor 54 can be an infrared sensor, a stress sensor or a proximity sensor, for example. In some embodiments, the sensor 54 is arranged on the casing 35.

[0069] In the present application, the mechanical gripper 40 can be a mechanical gripper commonly used in the prior art, and the specific implementation mode of the mechanical gripper is not limited in the present application.

[0070] In the present application, the connection or installation is fixed connection in the absence of special emphasis. The fixed connection can be realized as detachable connection or non-detachable connection commonly used in the prior art. The detachable connection can be realized by using the prior art, such as threaded connection or key connection. The non-detachable connection can also be realized by using the prior art, such as welding or gluing.

[0071] The above only describes some embodiments of the present application. Those skilled in the art can make several modifications and improvements without departing from the inventive concept of the present application, and these all belong to the protection scope of the present application.

Claims

1. Overhead crane, characterized in that: The invention comprises a first motion mechanism (20) for driving a claw driving mechanism (30) to move, wherein a driving device in the first motion mechanism (20) is arranged to be fixed relative to a frame (100) of the claw machine; The first motion mechanism (20) comprises: A fixed drive device (21) for being fixedly arranged relative to the frame (100); A fixed guide mechanism (22) for guiding the movement of the claw drive mechanism (30); and a fixed transmission mechanism (23) for driving the fixed guide mechanism (22) to move under the drive of the fixed drive device (21).

2. The overhead crane according to claim 1, characterized in that: The fixed drive device (21) is a rotating motor; The fixed transmission mechanism (23) includes a fixed driving wheel (231) driven by the rotating motor, a fixed driven wheel (232) pivotally arranged relative to the frame (100), and a cable (233) capable of driving the fixed driven wheel (232) to rotate synchronously under the drive of the fixed driving wheel (231); wherein, The cable (233) is configured to drive the fixed guide mechanism (22) to move.

3. The overhead crane according to claim 2, characterized in that: An accommodating groove (2311) for accommodating a cable (233) is provided along the outer circumference of at least one of the fixed driving wheel (231) and the fixed driven wheel (232).

4. The overhead crane according to claim 2, characterized in that: The fixed guide mechanism (22) comprises at least one set of mutually adapted fixed guide rails (221) and fixed guide sliders (222); wherein, The fixed guide rail (221) is fixedly arranged relative to the frame (100) and extends along a first direction; The claw driving mechanism (30) is arranged on the fixed guide slider (222); The fixed transmission mechanism (23) is configured to drive the fixed guide slider (222) to reciprocate along a first direction.

5. The overhead crane according to claim 4, characterized in that: The fixed guide slider (222) is provided with a first through hole (2221), the size of the first through hole (2221) is larger than the diameter of the cable (233), and the extension direction of the first through hole (2221) is not parallel to the extension direction of the cable (233) between the fixed driving wheel (231) and the driven wheel.

6. The overhead crane according to claim 5, characterized in that: The fixed guide slider (222) is further provided with an opening groove (2222) on one side of the first through hole (2221) for connecting the first through hole (2221) with the outside; wherein, The size of the first through hole (2221) is larger than the size of the opening groove (2222); The width of the opening slot (2222) is greater than the diameter of the cable (233).

7. The overhead crane according to any one of claims 1 to 6, characterized in that: It also includes a claw driving mechanism (30) for driving the mechanical claw (40) to move along the second direction and / or the third direction, and the claw driving mechanism (30) is configured to be able to move under the drive of the first movement mechanism (20).

8. The overhead crane according to claim 7, characterized in that: The claw driving mechanism (30) comprises: 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 and arranged on the first motion mechanism (20), 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).

9. A claw machine including an overhead crane, characterized in that: include: Rack(100); The overhead crane according to any one of claims 1 to 8, wherein the first motion mechanism (20) of the overhead crane is arranged on the frame (100); A mechanical claw (40) provided on the overhead travelling crane; and a centering sensing system (50) arranged on the frame (100) and the overhead crane, wherein the centering sensing system (50) is configured to control the first motion mechanism (20) and the claw driving mechanism (30) to drive the mechanical claw (40) to move to a position centered relative to the frame (100) after the mechanical claw (40) attempts to grasp a target object.

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