Grabber machine with parameter adjustment function
Patent Information
- Application Number
- US19/237409
- Authority / Receiving Office
- US · United States
- Patent Type
- Applications(United States)
- Current Assignee / Owner
- Priority Date
- 2025-02-24
- Filing Date
- 2025-06-13
- Publication Date
- 2026-08-27
Smart Images
Figure US20260249169A1-D00000_ABST
Abstract
Description
CROSS-REFERENCE TO RELATED APPLICATION
[0001] This application claims priority to Taiwanese Invention patent application No. 114106758, filed on Feb. 24, 2025, the entire disclosure of which is incorporated by reference herein.FIELD
[0002] The disclosure relates to a game machine, and more particularly to a grabber machine with a parameter adjustment function.BACKGROUND
[0003] When detailed adjustments are needed for a conventional game machine, such as a grabber machine or a claw machine, an operator is typically required to operate an electromechanical device provided in the conventional game machine to adjust device parameters (e.g., a driving voltage associated with the operation of the conventional game machine). The electromechanical device generally includes a display interface that lists all adjustable device parameters, from which the user may select and adjust a desired parameter.
[0004] However, before manually calibrating and adjusting the device parameters, the operator must first understand the display interface (which may be difficult to interpret in some cases). Since the display interface covers all adjustable device parameters, the operator must spend time identifying and selecting specific setting options before adjustments can be made. Furthermore, if the operator is operating the display interface for the first time, additional time may be required to become familiar with the display interface.SUMMARY
[0005] Therefore, an object of the disclosure is to provide a grabber machine that can alleviate at least one of the drawbacks of the prior art.
[0006] According to the disclosure, a grabber machine with a parameter adjustment function includes a cabinet and a control device. The cabinet defines an inner space that allows an object to be placed therein. The control device is disposed in the cabinet and includes an input mechanism, a grabbing mechanism, and a processing module that is electrically connected to the input mechanism and the grabbing mechanism. The control device stores a lookup table that includes a grabbing setting operation related to setting grabbing parameters, where the grabbing parameters are related to grabbing and releasing of the object by the grabbing mechanism, and a grabbing setting command set that is associated with the grabbing setting operation, where the grabbing setting command set is related to generation of an output set of the grabbing parameters for the object. The processing module is configured to, in response to receiving a parameter setting signal that indicates the grabbing setting operation from the input mechanism, obtain, from the lookup table, the grabbing setting command set that is associated with the grabbing setting operation indicated by the parameter setting signal, and execute the grabbing setting command set to control the grabbing mechanism to perform a series of predetermined actions on the object, thereby generating the output set of the grabbing parameters that are related to moving the grabbing mechanism in the inner space, controlling the grabbing mechanism to perform a grabbing action, and controlling the grabbing mechanism to perform a releasing action.BRIEF DESCRIPTION OF THE DRAWINGS
[0007] Other features and advantages of the disclosure will become apparent in the following detailed description of the embodiment(s) with reference to the accompanying drawings. It is noted that various features may not be drawn to scale.
[0008] FIG. 1 is a front view illustrating a grabber machine according to an embodiment of the disclosure.
[0009] FIG. 2 is a flow chart illustrating a first procedure for obtaining grabbing parameters according to an embodiment of the disclosure.
[0010] FIG. 3 is a rear view illustrating an adjustment shortcut component of the grabber machine being pressed.
[0011] FIG. 4 is a flow chart illustrating a second procedure for generating the grabbing parameters according to an embodiment of the disclosure.
[0012] FIG. 5 is a schematic diagram illustrating a display interface that displays a first parameter set and a second parameter set.
[0013] FIG. 6 is a block diagram illustrating a control device of the grabber machine according to an embodiment of the disclosure.DETAILED DESCRIPTION
[0014] Before the disclosure is described in greater detail, it should be noted that where considered appropriate, reference numerals or terminal portions of reference numerals have been repeated among the figures to indicate corresponding or analogous elements, which may optionally have similar characteristics.
[0015] It should be noted herein that for clarity of description, spatially relative terms such as “top,”“bottom,”“upper,”“lower,”“on,”“above,”“over,”“downwardly,”“upwardly” and the like may be used throughout the disclosure while making reference to the features as illustrated in the drawings. The features may be oriented differently (e.g., rotated 90 degrees or at other orientations) and the spatially relative terms used herein may be interpreted accordingly.
[0016] Referring to FIG. 1, according to an embodiment of the disclosure, a grabber machine with a parameter adjustment function is provided. The grabber machine is adapted to obtain grabbing parameters that are related to grabbing and releasing of an object 9, and includes a cabinet 1, and a control device 2 that is disposed in the cabinet 1.
[0017] The cabinet 1 defines an inner space 11 that allows the object 9 to be placed therein, and includes an output hole 12 that is in spatial communication with the inner space 11 and that is for retrieving the object 9, and an object sensor 13 that is disposed in the output hole 12 and that is configured to determine whether the object 9 has passed by the object sensor 13. The object sensor 13 is configured to generate a detection signal when determining that the object 9 has left the inner space 11 (i.e., has passed by the object sensor 13), and to send the detection signal to the control device 2. In some embodiments, the object sensor 13 may be an ultrasonic sensor, a weight sensor, or a pressure sensor for sensing the object 9.
[0018] Referring further to FIG. 6, the control device 2 includes an input mechanism 21, a grabbing mechanism 22, and a processing module 23 that is electrically connected to the input mechanism 21 and the grabbing mechanism 22.
[0019] The input mechanism 21 includes a joystick 211, a grab button 212, a display interface 214, and an adjustment shortcut component 215, each being electrically connected to the processing module 23. The joystick 211 is configured to be operated on to control movement of the grabbing mechanism 22 in the inner space 11, the grab button 212 is configured to be operated on to control the grabbing mechanism 22 to perform a grabbing action, and the display interface 214 is configured to display grabber machine setting parameters (e.g., the grabbing parameters). In some embodiments, the display interface 214 may be a display screen, where the grabber machine setting parameters displayed on the display screen may be selected by the operator through controlling the joystick 211 and or the grab button 212. In some embodiments, the adjustment shortcut component 215 may be a button.
[0020] The grabbing mechanism 22 includes a driving unit 221 that is electrically connected to the processing module 23 and that is movably disposed in the cabinet 1, and a claw unit 222 that is electrically connected to the driving unit 221, but the disclosure is not limited to such. Specifically, the processing module 23 is configured to control the driving unit 221 to output an operating voltage with different voltage levels to the claw unit 222, so as to adjust a grip strength of the claw unit 222 (i.e., a greater voltage level provides a stronger grip strength of the claw unit 222). In some embodiments, the driving unit 221 may include a first motor that is configured to pull and release the claw unit 222, a second motor that is configured to move the grabbing mechanism 22 in the inner space 11, and a voltage regulator or a voltage generator that is configured to output the operating voltage with different voltage levels to the claw unit 222.
[0021] The control device 2 stores a lookup table that includes a grabbing setting operation which is related to setting the grabbing parameters, and a grabbing setting command set which is associated with the grabbing setting operation. The grabbing parameters are used by the grabbing mechanism 22 for grabbing and releasing of the object 9, and the grabbing setting command set is related to generation of an output set of the grabbing parameters for the object 9. In one example, the grabbing setting operation may include pressing the adjustment shortcut component 215 for a first predetermined time period. In another example, the grabbing setting operation may include simultaneously pushing the joystick 211 in a first direction (e.g., a forward direction) and pressing the grab button 212 for a second predetermined time period.
[0022] The control device 2 further stores an effective set of the grabbing parameters and a default set of the grabbing parameters. The grabbing parameters may include a grabbing voltage level of the operating voltage that is outputted to the grabbing mechanism 22 for performing the grabbing action (e.g., for grabbing the object 9), a releasing voltage level of the operating voltage that is outputted to the grabbing mechanism 22 for performing the releasing action (e.g., for releasing the object 9), a standby voltage level of the operating voltage that is outputted to the grabbing mechanism 22 before the grabbing mechanism 22 performs the grabbing action, and after the grabbing mechanism 22 has performed the releasing action. In some embodiments, the grabbing voltage level may be obtained through experiments.
[0023] When the processing module 23 receives a grabbing operation signal (e.g., outputted by the grab button 212 when pressed) from the input mechanism 21, the processing module 23 controls the grabbing mechanism 22 to, based on the effective set of the grabbing parameters and the grabbing operation signal, move in the inner space 11, perform the grabbing action related to grabbing the object 9, and perform a releasing action related to releasing the object 9.
[0024] In practice, when the grabbing mechanism 22 is moving in the inner space 11 before the grabbing action is performed, the processing module 23 controls the driving unit 221 to output the operating voltage at the standby voltage level (e.g., 0 V) to the claw unit 222. After receiving the grabbing operation signal, the processing module 23 controls the driving unit 221 to lower the claw unit 222, and to output the operating voltage at the grabbing voltage level to the claw unit 222, so that the claw unit 222 performs the grabbing action to grab the object 9. After the claw unit 222 has grabbed the object 9 (i.e., after the claw unit 222 has been lowered to grab the object 9 and has been pulled up), the processing module 23 controls the grabbing mechanism 22 to move toward the output hole 12, and then controls the driving unit 221 to gradually reduce the operating voltage from the grabbing voltage level to the releasing voltage level, so as to make the grabbing mechanism 22 release the object 9. After the grabbing mechanism 22 releases the object 9 (i.e., after the operating voltage has been dropped to the releasing voltage level), the processing module 23 controls the driving unit 221 to output the operating voltage at the standby voltage level to the claw unit 222, until receiving the grabbing operation signal again. In some embodiments, the operating voltage gradually reduces immediately after performing the grabbing action. In some embodiments, the operating voltage gradually reduces after the grabbing action has been performed for a preset time.
[0025] In this embodiment, the processing module 23 may include a microcontroller, such as of an Arduino board, and is electrically connected to the joystick 211, the grab button 212, and the driving unit 221. When the microcontroller receives an input signal from the input mechanism 21 (e.g., the joystick 211 and / or the grab button 212), the microcontroller sends a control signal to the driving unit 221 based on the input signal, so as to drive the driving unit 221 to operate, but the disclosure is not limited to such.
[0026] In this embodiment, the lookup table is prestored in a storage medium (e.g., flash memory, random access memory (RAM), read only memory (ROM)) of the microcontroller.
[0027] Referring further to FIG. 2, according to an embodiment of the disclosure, a first procedure for obtaining the grabbing parameters includes steps 31 to 33.
[0028] In step 31, when the processing module 23 receives a parameter setting signal that indicates the grabbing setting operation from the input mechanism 21, the processing module 23 obtains the grabbing setting command set that is associated with the grabbing setting operation indicated by the parameter setting signal based on the lookup table. Specifically, the parameter setting signal is generated as a result of the input mechanism 21 being operated with the grabbing setting operation.
[0029] Referring further to FIG. 3, in one embodiment, the grabbing setting operation includes pressing the adjustment shortcut component 215. Therefore, when the adjustment shortcut component 215 is being pressed, the adjustment shortcut component 215 sends the parameter setting signal to the microcontroller, and the microcontroller obtains the grabbing setting command set based on the parameter setting signal and the lookup table.
[0030] In step 32, the processing module 23 executes the grabbing setting command set to control the grabbing mechanism 22 to perform a series of predetermined actions on the object 9, thereby generating the output set of the grabbing parameters that are related to moving the grabbing mechanism 22 in the inner space 11, controlling the grabbing mechanism 22 to perform the grabbing action, and controlling the grabbing mechanism 22 to perform the releasing action.
[0031] Referring further to FIG. 4, according to an embodiment of the disclosure, a second procedure for generating the grabbing parameters (i.e., step 32) includes sub-steps of 321 to 324.
[0032] In sub-step 321, the processing module 23 executes the grabbing setting command set to control the grabbing mechanism 22 to operate using the operating voltage at the grabbing voltage level to grab the object 9.
[0033] In sub-step 322, after sub-step 321, the processing module 23 controls the grabbing mechanism 22 to gradually reduce the operating voltage from the grabbing voltage level to the releasing voltage level to make the grabbing mechanism 22 release the object 9.
[0034] In sub-step 323, after the grabbing mechanism 22 releases the object 9 (i.e., after the processing module 23 controls the grabbing mechanism 22 to perform the releasing action), when the processing module 23 receives the detection signal from the object sensor 13 indicating that the object 9 has passed by the object sensor 13, the processing module 23 obtains a loose voltage level (Vloose) of the operating voltage that is related to releasing the object 9 from the grabbing mechanism 22. To describe in further detail, the processing module 23 obtains the loose voltage level (Vloose) using the following equation:Vloose=V1-(ΔV×t),where V1 represents a level of the operating voltage at a moment the processing module 23 receives the detection signal, ΔV represents a change in the operating voltage per unit time during the gradually reduction of the operating voltage (i.e., ΔV is a negative value during the gradually reducing of the operating voltage), and t represents a time difference between the object 9 being released from the grabbing mechanism 22 (i.e., the processing module 23 controlling the grabbing mechanism 22 to perform the releasing action) and the processing module 23 receiving the detection signal from the object sensor 13. It should be noted that the time difference t may be obtained based on the free fall equation and a height difference from the object sensor 13 to the claw unit 222 of the grabbing mechanism 22. In some embodiments, the change in the operating voltage per unit time may be set by the operator.In this embodiment, the grabbing mechanism 22 is located above the output hole 12 initially, that is, before starting a game with the grabber machine, as illustrated in FIG. 1. The grabbing setting command set includes a grab signal that indicates controlling the driving unit 221 to drive the claw unit 222 to grab the object 9, and a voltage reduction signal that indicates controlling the driving unit 221 to gradually reduce the operating voltage that is outputted to the claw unit 22 for performing the releasing action. In sub-step 321, the microcontroller sends the grab signal to the driving unit 221, and upon receiving the grab signal, the driving unit 221 drives the claw unit 222 to grab the object 9 using the operating voltage at the grabbing voltage level. In sub-step 322, the microcontroller sends the voltage reduction signal to the driving unit 221, and upon receiving the voltage reduction signal, the driving unit 221 gradually reduces the operating voltage that is outputted to the claw unit 222 from the grabbing voltage level to the releasing voltage level, so that the claw unit 222 releases the object 9. In sub-step 323, upon detecting the object 9 passing by, the object sensor 13 sends the detection signal to the microcontroller, where the microcontroller obtains and stores the operating voltage of V1 upon receiving the detection signal.
[0036] In some embodiments, the loose voltage level (Vloose) may be obtained using another equation as follows:Vloose=V1-(ΔV×t2),but the disclosure is not limited to such.In sub-step 324, the processing module 23 generates the output set of the grabbing parameters based on the grabbing voltage level and the loose voltage level. In one example, the releasing voltage level of the operating voltage may be adjusted to be slightly lower than the loose voltage level.
[0038] In step 33, upon receiving a parameter selection signal from the display interface 214, the processing module 23 selects one of the default set of the grabbing parameters and the output set of the grabbing parameters to overwrite the effective set of the grabbing parameters. Specifically, the parameter selection signal indicates which one of the default set and the output set has been selected to overwrite the effective set, and the processing module 23 overwrites the effective set based on the parameter selection signal.
[0039] As such, after receiving the parameter selection signal and overwriting the effective set of the grabbing parameters, when the processing module 23 receives the grabbing operation signal from the input mechanism 21, the processing module 23 controls the grabbing mechanism 22 to, based on the effective set of the grabbing parameters (which is selected in step 33) and the grabbing operation signal, move in the inner space 11, perform the grabbing action, and perform the releasing action.
[0040] Referring further to FIG. 5, in one embodiment, the display interface 214 shows a first parameter set (P1) that is being selected and a second parameter set (P2) that is not selected. In one example, the first parameter set (P1) is the output set of the grabbing parameters, and the second parameter set (P2) is the default set of the grabbing parameters. In such a case, a user may operate the joystick 211 and the push button 212 to select one of the first parameter set (P1) and the second parameter set (P2), causing the display interface 214 to send the parameter selection signal (which indicates either the first parameter set (P1) or the second parameter set (P2) to the processing module 23, and the processing module 23 overwrites the effective set of the grabbing parameters based on the parameter selection signal.
[0041] In some embodiments, the control device 2 further stores a parameter set log that includes a plurality of historical sets of the grabbing parameters, where the historical sets may be previous output sets that were obtained by the grabber machine. In such a case, in sub-step 324, after generating the output set of the grabbing parameters, the processing module 23 stores the output set of the grabbing parameters into the parameter set log. And in step 33, upon receiving the parameter selection signal, the processing module 23 re-determines the effective set of the grabbing parameters from the default set of the grabbing parameters and the parameter set log (which includes the historical sets and the output set), so that next time when the processing module 23 receives the grabbing operation signal from the input mechanism 21, the processing module 23 controls the grabbing mechanism 22 to, based on the effective set of the grabbing parameters thus re-determined and the grabbing operation signal, move in the inner space 11, perform the grabbing action, and perform the releasing action.
[0042] In summary, the embodiment of the present disclosure enables the operator to easily operate the input mechanism 21 to generate and send the parameter setting signal to the processing module 23, so that the processing module 23 obtains the grabbing setting command set based on the lookup table, and executes the grabbing setting command set to control the grabbing mechanism 22 to perform the series of predetermined actions, thereby generating the output set of the grabbing parameters. As such, instead of manually controlling the grabber machine to perform the series of predetermined actions, the operator simply needs to operate the input mechanism 21 (e.g., by pressing the adjustment shortcut component 215) to adjust the grabbing parameters.
[0043] In the description above, for the purposes of explanation, numerous specific details have been set forth in order to provide a thorough understanding of the embodiment(s). It will be apparent, however, to one skilled in the art, that one or more other embodiments may be practiced without some of these specific details. It should also be appreciated that reference throughout this specification to “one embodiment,”“an embodiment,” an embodiment with an indication of an ordinal number and so forth means that a particular feature, structure, or characteristic may be included in the practice of the disclosure. It should be further appreciated that in the description, various features are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of various inventive aspects; such does not mean that every one of these features needs to be practiced with the presence of all the other features. In other words, in any described embodiment, when implementation of one or more features or specific details does not affect implementation of another one or more features or specific details, said one or more features may be singled out and practiced alone without said another one or more features or specific details. It should be further noted that one or more features or specific details from one embodiment may be practiced together with one or more features or specific details from another embodiment, where appropriate, in the practice of the disclosure.
[0044] While the disclosure has been described in connection with what is (are) considered the exemplary embodiment(s), it is understood that this disclosure is not limited to the disclosed embodiment(s) but is intended to cover various arrangements included within the spirit and scope of the broadest interpretation so as to encompass all such modifications and equivalent arrangements.
Claims
1. A grabber machine with a parameter adjustment function, comprising:a cabinet defining an inner space that allows an object to be placed therein; anda control device disposed in said cabinet and including an input mechanism, a grabbing mechanism, and a processing module that is electrically connected to said input mechanism and said grabbing mechanism, said control device storing a lookup table that includes a grabbing setting operation related to setting grabbing parameters, where the grabbing parameters are related to grabbing and releasing of the object by said grabbing mechanism, and a grabbing setting command set that is associated with the grabbing setting operation, where the grabbing setting command set is related to generation of an output set of the grabbing parameters for the object;wherein said processing module is configured toin response to receiving a parameter setting signal that indicates the grabbing setting operation from said input mechanism, obtain, from the lookup table, the grabbing setting command set that is associated with the grabbing setting operation indicated by the parameter setting signal, andexecute the grabbing setting command set to control said grabbing mechanism to perform a series of predetermined actions on the object, thereby generating the output set of the grabbing parameters that are related to moving said grabbing mechanism in the inner space, controlling said grabbing mechanism to perform a grabbing action, and controlling said grabbing mechanism to perform a releasing action.
2. The grabber machine as claimed in claim 1, wherein:said control device further stores an effective set of the grabbing parameters and a default set of the grabbing parameters;said processing module is further configured to, in response to receiving a grabbing operation signal from said input mechanism, control said grabbing mechanism to, based on the effective set of the grabbing parameters and the grabbing operation signal, move in the inner space, perform the grabbing action, and perform the releasing action;said processing module is further configured to, after generating the output set of the grabbing parameters, select one of the default set of the grabbing parameters and the output set of the grabbing parameters to overwrite the effective set of the grabbing parameters based on a parameter selection signal.
3. The grabber machine as claimed in claim 1, wherein:said control device further stores an effective set of the grabbing parameters, a default set of the grabbing parameters, and a parameter set log;said processing module is further configured to, in response to receiving a grabbing operation signal from said input mechanism, control said grabbing mechanism to, based on the effective set of the grabbing parameters and the grabbing operation signal, move in the inner space, perform the grabbing action, and perform the releasing action;said processing module is configured to, after generating the output set of the grabbing parameters, store the output set of the grabbing parameters into the parameter set log; andsaid processing module is configured to re-determine the effective set of the grabbing parameters from the default set of the grabbing parameters and the parameter set log based on a parameter selection signal.
4. The grabber machine as claimed in claim 1, wherein:said cabinet further includes an output hole that is in spatial communication with said inner space and that is for retrieving the object, and an object sensor that is disposed in said output hole and that is configured to determine whether the object has passed by said object sensor;said processing module is configured to, in response to executing the grabbing setting command set,control said grabbing mechanism to operate using an operating voltage at a grabbing voltage level to grab the object, followed by gradually reducing the operating voltage from the grabbing voltage level to make said grabbing mechanism release the object, andafter said grabbing mechanism releases the object, in response to receiving a detection signal from said object sensor indicating that the object has passed by said object sensor, obtain a loose voltage level (Vloose) that is related to releasing the object from said grabbing mechanism, and generate the output set of the grabbing parameters based on the grabbing voltage level and the loose voltage level (Vloose).
5. The grabber machine as claimed in claim 4, wherein the loose voltage (Vloose) is obtained using an equation as follows:Vloose=V1-(ΔV×t),where V1 represents a level of the operating voltage at a moment the processing module receives the detection signal, ΔV represents a change in the operating voltage per unit time during the gradually reducing of the operating voltage, and t represents a time difference between the object being released from said grabbing mechanism and said processing module receiving the detection signal from said object sensor.