Intelligent claw control system and method for claw machine

Abstract

The present invention relates to an intelligent claw control system and method for a claw machine. The intelligent claw control system for a claw machine comprises: a control chip, a measurement module, and a driving module for driving a claw to open or grip. The driving module at least comprises a driving coil. A claw comprises a plurality of clamping rods. The measurement module which is used for measuring, in real time, a movement distance of each of the plurality of clamping rods and the temperature of the driving coil is communicatively connected to the control chip. The control chip determines an opening size of the claw on the basis of the movement distance of each clamping rod and the temperature of the driving coil, and regulates a voltage and / or a current of the driving coil. In the present invention, voltage and current values required for the position where the claw opens to grip an object are determined on the basis of the opening size, and then secondary regulation of the voltage and current values is performed on the basis of the temperature of the driving coil, and the voltage and / or the current of the driving coil are / is regulated, thereby achieving dynamic adjustment of the opening size of the claw, and ensuring that the gripping force does not decay even if the temperature of the driving coil rises, and thus ensuring output consistency of the gripping force and avoiding affecting the prize-winning rate.

Description

Intelligent gripper control system and method for gift machines

[0001] This application claims priority to Chinese Patent Application No. 202411831995.6, filed on December 12, 2024, entitled “Intelligent Gripper Control System and Method for Gift Machines”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This invention relates to the field of gift machine technology, and specifically to an intelligent gripper control system and method for gift machines. Background Technology

[0003] With the development of the leisure and entertainment industry, claw machines (gift machines) have gradually become important entertainment equipment, attracting a large number of consumers. However, existing claw machines on the market generally suffer from some technical bottlenecks, especially in terms of gripper control, which limits their grasping performance and user experience.

[0004] Most claw machines on the market currently use electromagnetic coils to generate claw force. This mechanism works by using the magnetic field generated by the electromagnetic coil to attract the metal bar on the gripper, thus grabbing the item. However, the claw force of the electromagnetic coil is not constant but is affected by various factors, especially temperature changes. As the number of grabs increases, the temperature of the electromagnetic coil gradually rises, and this increase in temperature leads to an increase in resistance. This change in resistance directly affects the flow of current, resulting in a decrease in claw force.

[0005] In practice, as the temperature of the electromagnetic coil rises, the claw force gradually weakens when using the same voltage and current output, leading to a lower success rate in grabbing items. This phenomenon is particularly noticeable under high-frequency use, and users may experience insufficient gripping force during gameplay, thus affecting their gaming experience and satisfaction. Furthermore, because the claw force of existing claw machines is fixed and cannot be dynamically adjusted according to the weight of the prizes, the claw force may not be sufficient when grabbing different types of items. Summary of the Invention

[0006] The purpose of this invention is to provide an intelligent gripper control system and method for gift machines, which realizes dynamic adjustment of the gripper opening size, ensures that the gripping force will not decrease even if the temperature of the drive coil increases, thereby ensuring the consistency of the gripper force output, avoiding affecting the prize payout rate, and improving the gripper's self-adaptive capability.

[0007] To achieve the above-mentioned objectives, the present invention provides an intelligent gripper control system for gift machines, including a control chip, a detection module, and a drive module for driving the grippers to open or tighten.

[0008] The drive module includes at least a drive coil;

[0009] The gripper includes multiple gripping bars;

[0010] The detection module, used to detect the distance moved by multiple clamps and the temperature of the drive coil in real time, is communicatively connected to the control chip.

[0011] The control chip determines the opening size of the gripper by measuring the distance the gripper moves and the temperature of the drive coil, and adjusts the voltage and / or current of the drive coil accordingly.

[0012] According to one technical solution of the present invention, the detection module includes a displacement sensor for real-time detection of the distance moved by multiple clamps and a temperature sensor for detecting the temperature of the drive coil;

[0013] The displacement sensor is fixedly mounted on the corresponding clamping rod;

[0014] The temperature sensor is located inside the gripper, close to the drive coil.

[0015] According to one technical solution of the present invention, it further includes:

[0016] A time crystal oscillator is used to provide a time reference for the control chip and is electrically connected to the control chip.

[0017] A chip crystal oscillator, used to provide clock signals to the control chip, is electrically connected to the control chip.

[0018] According to one technical solution of the present invention, it further includes:

[0019] The control chip communicates with the host computer through the communication module.

[0020] According to one technical solution of the present invention, the control chip also connects to the server module through the communication module to upload the detection data of the corresponding gripper to the server module;

[0021] The server module is configured with a data analysis module for statistical analysis of the detection data.

[0022] According to one technical solution of the present invention, the control chip also uploads prize information to the server module through the communication module, and the prize information includes at least the prize status and the weight of the gift;

[0023] The data analysis module determines the popularity of different types of prize machines by analyzing the prize information.

[0024] According to one technical solution of the present invention, the displacement sensor is an ultrasonic sensor or a laser sensor.

[0025] According to one technical solution of the present invention, the control chip is further configured with a fault self-diagnosis module.

[0026] According to one technical solution of the present invention, a power conversion module is also included.

[0027] According to one aspect of the invention, a gripper control method is provided based on the intelligent gripper control system for gift machines according to any one of the above technical solutions, wherein the opening size of the gripper is determined by the distance the gripper rod moves and the temperature of the drive coil, and the voltage and / or current of the drive coil is adjusted.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] According to one concept of the present invention, an intelligent gripper control system and method for gift machines is proposed. The detection module can detect in real time the distance moved by multiple grippers and the temperature of the drive coil. The control chip determines the required opening size of the gripper based on the distance moved by the grippers, determines the voltage and current values ​​required for the gripper to grasp the object based on the opening size, and then adjusts the voltage and / or current values ​​a second time based on the temperature of the drive coil. This adjustment of the drive coil's voltage and / or current achieves dynamic adjustment of the gripper opening size, ensuring that the gripping force does not decrease even when the drive coil temperature increases, thus guaranteeing consistent gripping force output, avoiding impact on the prize payout rate, facilitating precise control of the gripper opening size, improving the success rate of grasping gifts, preventing grasping failures due to excessive gripper opening, ensuring the prize payout rate of the gift machine, and enhancing the user experience.

[0030] Furthermore, by adjusting the gripper force based on distance and temperature sensors, the gripper can adapt to gifts of various sizes. Players are no longer limited by the limited variety of gifts or unreasonable gripping difficulty. Each time the game is started, the gripper will adaptively adapt to different gift sizes, and users do not need to adjust the gripper force based on the gift, greatly improving convenience. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 schematically illustrates the composition of an intelligent gripper control system for a gift machine according to an embodiment of the present invention;

[0033] Figure 2 schematically illustrates a gripper structure according to an embodiment of the present invention. Detailed Implementation

[0034] The description of the embodiments in this specification should be taken in conjunction with the accompanying drawings, which should form part of the complete specification. In the drawings, the shape or thickness of the embodiments may be exaggerated and may be indicated in a simplified or convenient manner. Furthermore, parts of the various structures in the drawings will be described separately; it is worth noting that elements not shown in the figures or not described in words are in a form known to those skilled in the art.

[0035] The descriptions of the embodiments herein, including any references to directions and orientations, are for ease of description only and should not be construed as limiting the scope of the invention. The following description of preferred embodiments involves combinations of features, which may exist independently or in combination; the invention is not particularly limited to the preferred embodiments. The scope of the invention is defined by the claims.

[0036] In describing embodiments of the present invention, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer" express orientations or positional relationships based on the orientations or positional relationships shown in the relevant drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, the above terms should not be construed as limitations on the present invention.

[0037] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. The embodiments cannot be described in detail here, but the embodiments of the present invention are not limited to the following embodiments.

[0038] As shown in Figures 1 and 2, according to one embodiment of the present invention, the present invention provides an intelligent gripper control system for gift machines, including a control chip, a detection module, and a drive module for driving the gripper to open or tighten.

[0039] The drive module includes at least a drive coil;

[0040] The gripper includes multiple gripping bars;

[0041] The detection module, used to detect the distance moved by multiple clamps and the temperature of the drive coil in real time, is connected to the control chip.

[0042] The control chip determines the opening size of the grippers by measuring the distance the gripper moves and the temperature of the drive coil, and adjusts the voltage and / or current of the drive coil accordingly.

[0043] This invention is applicable to the grippers of gift machines that utilize a magnetic flux shaft and a drive coil to open or close the grippers. When the electromagnetic field is activated, the iron rod rises and the grippers close. When the electromagnetic field is deactivated, the grippers open automatically due to the weight of the iron rod itself, as shown in Figure 2. When the drive coil 1 is energized, it works in conjunction with the magnetic flux shaft 2. The magnetic flux shaft 2 moves upward along the inner side of the drive coil 1. As the magnetic flux shaft 2 moves upward, it drives the clamping rod connecting platform 3 to move upward synchronously. With the assistance of the clamping rod connecting rod 4 and the linkage rod 5, the three sets of clamping rods 6 and the gripper body below can be driven to move synchronously towards the center position. The three sets of clamping rods 6 and the gripper body work together to perform the gripping operation of the doll.

[0044] The greater the opening distance of the grippers, the higher the voltage and current required. At the same time, the voltage and current required are different depending on the size of the opening of the grippers. Different voltage and current can be output by the distance feedback from the distance sensor.

[0045] The higher the temperature of the drive coil, the more severe the decrease in claw force.

[0046] In this invention, both the detection module and the gripper drive module are electrically connected to the control chip. The detection module can detect the distance moved by multiple grippers and the temperature of the drive coil in real time. The control chip determines the opening size of the gripper based on the distance moved by the grippers, and determines the voltage and current values ​​required for the gripper to grasp the object based on the opening size. Then, it adjusts the voltage and current values ​​a second time based on the temperature of the drive coil. By adjusting the voltage and / or current of the drive coil, the dynamic adjustment of the gripper opening size is achieved, ensuring that the gripping force will not decrease even if the temperature of the drive coil increases. This ensures the consistency of the gripper force output, avoids affecting the prize payout rate, helps to accurately control the gripper opening size, improves the success rate of grasping gifts, avoids grasping failure due to excessive gripper opening, ensures the prize payout rate of the gift machine, and improves the user experience.

[0047] Furthermore, by adjusting the gripper force based on distance and temperature sensors, the gripper can adapt to gifts of various sizes. Players are no longer limited by the limited variety of gifts or unreasonable gripping difficulty. Each time the game is started, the gripper will adaptively adapt to different gift sizes, and users do not need to adjust the gripper force based on the gift, greatly improving convenience.

[0048] The intelligent gripper control system for gift machines of this application can be integrated onto a single PCB board, offering advantages such as low cost, small size, and ease of installation. Referring to Figure 2, the PCB can be circular and installed in the unused space directly above the magnetic flux shaft 2.

[0049] In some embodiments of the present invention, the detection module includes a displacement sensor for real-time detection of the distance moved by multiple clamps and a temperature sensor for detecting the temperature of the drive coil.

[0050] The displacement sensor is fixedly mounted on the corresponding clamping rod;

[0051] The temperature sensor is located inside the gripper, close to the drive coil.

[0052] Displacement sensors can be either ultrasonic or laser sensors. When an ultrasonic or laser sensor is selected as the displacement sensor, it is fixedly mounted on the corresponding clamping rod. When the clamping rod moves, the ultrasonic sensor measures the change in distance between itself and the target object (such as a reference point in the grasping area of ​​a gift machine) by emitting ultrasonic waves and receiving the reflected waves, thus determining the distance the clamping rod has moved. The laser sensor, on the other hand, utilizes the principle of laser reflection, accurately calculating the displacement of the clamping rod by detecting parameters such as the time difference between the emitted and reflected laser light.

[0053] For example, the displacement sensor can be the VL53L0 distance sensor, which monitors the movement distance of the gripper in real time and continuously transmits distance data to the control chip, laying a solid foundation for subsequent voltage and current regulation.

[0054] Typically, the temperature sensor is placed inside the gripper, close to the drive coil, to detect the heat dissipated by the drive coil in real time, thus accurately obtaining the temperature value of the drive coil. The temperature sensor can be fixed to the drive coil, but to ensure effective heat dissipation, it is preferable to place the temperature sensor only close to it. A suitable thermistor can be used as the temperature sensor.

[0055] Temperature sensors can detect the temperature of the drive coil. On the one hand, the temperature of the drive coil can be used to ensure the consistency of the gripper force output. On the other hand, real-time monitoring of the drive coil temperature can promptly detect abnormalities such as overheating of the coil, allowing for early intervention measures, such as adjusting drive parameters or performing heat dissipation, effectively extending the service life of the drive coil and ensuring the stable operation of the entire gripper control system.

[0056] In some embodiments of the present invention, the intelligent gripper control system for gift machines further includes:

[0057] A time crystal oscillator is used to provide a time reference for the control chip and is electrically connected to the control chip. The time crystal oscillator is electrically connected to the control chip through corresponding circuit pins so that it can provide a precise time reference signal to the control chip according to its own stable oscillation frequency. For example, it can generate a stable second pulse signal, etc., to provide a basis for the timing-related operations of the system.

[0058] The time crystal provides an accurate time reference, which facilitates precise statistics and control of time-related data such as gripper working time and gift grabbing interval, and helps to achieve more reasonable gripping process planning.

[0059] A crystal oscillator, used to provide a clock signal to the control chip, is electrically connected to the control chip. Similarly, the crystal oscillator is connected to the control chip in a suitable electrical connection manner, continuously providing a stable clock signal to the control chip at its specific frequency, ensuring that the various circuit modules inside the control chip can perform data processing, instruction execution, and other operations in an orderly and coordinated manner.

[0060] The crystal oscillator ensures the stability of the clock signal of the control chip, enabling all parts of the control system to work together in an orderly manner. This avoids problems such as data processing errors and instruction execution chaos caused by unstable clock signals, thus improving the overall reliability and stability of the system.

[0061] In some embodiments of the present invention, the intelligent gripper control system for gift machines further includes:

[0062] The control chip communicates with the host computer through the communication module.

[0063] Select a suitable communication module corresponding to a communication protocol (such as RS485, Ethernet, USB, etc.), connect it to the communication pins of the control chip, and configure the communication parameters (such as baud rate, IP address, etc.) according to the requirements of the corresponding communication protocol. Configure the same protocol and parameters on the host computer as well, thereby establishing a stable communication link between the two and realizing data interaction between the control chip and the host computer.

[0064] The communication module allows for easy downloading of new control programs and parameters from the host computer to the control chip, facilitating functional upgrades and debugging of the gripper control system and enhancing its adaptability and scalability.

[0065] The host computer can remotely send control commands to the control chip, enabling remote monitoring and operation of the prize machine's grippers. This allows staff to manage and maintain the machine from the back end, eliminating the need for constant on-site supervision. Simultaneously, the host computer can control the payout rate, thereby enhancing the prize machine's appeal. For example:

[0066] The most common claw machines on the market require four levels of claw strength from grabbing a plush to awarding a prize:

[0067] 1. The first paragraph is about claw strength: the claw strength when grabbing a doll;

[0068] 2. The second section is about claw force two: the gripping force when the doll is lifted up;

[0069] 3. The third section is Claw Force Three: the gripping force when moving after grabbing the doll;

[0070] 4. The fourth section is Claw Force Four: the gripping force that ensures the doll can be grabbed and placed at the prize outlet.

[0071] If the host computer informs that the prize-giving method is no prize and that the prize is awarded by moving and falling, the smart gripper will output gripping force one and gripping force two according to the information fed back by the host computer to ensure that the gripping force can grab the doll, and when it reaches gripping force three, it will start to fine adjust the gripping force to make the doll slowly slide down.

[0072] In some embodiments of the present invention, the control chip also connects to the server module via the communication module to upload the corresponding gripper detection data to the server module; the control chip sends the collected gripper-related detection data (such as the movement distance of the gripper rod, the temperature of the drive coil, etc.) to the server module through the communication module according to the predetermined data format and communication protocol, and the server module receives and stores the data through the corresponding network interface.

[0073] The server module is configured with a data analysis module for statistical analysis of test data.

[0074] On the server side, a data analysis module is built using data analysis software or algorithms. This module can perform operations such as data cleaning, feature extraction, and statistical analysis on the large amount of received and stored detection data.

[0075] By analyzing a large amount of gripper detection data accumulated over a long period of time, we can uncover various patterns and potential problems in gripper operation, such as the performance of grippers at different times and the differences in working conditions under different environments. This provides strong data support for optimizing the parameter settings of the gripper control system, improving and maintaining the hardware structure, and ultimately enhancing the performance of the entire gift machine gripper system.

[0076] Data analysis can help identify potential malfunctions in the grippers in advance, such as a gradual decline in the performance of a component. This allows for proactive maintenance measures to reduce the probability of the gift machine failing to operate normally due to gripper failure, thereby improving operational efficiency.

[0077] In some embodiments of the present invention, the control chip also uploads prize information to the server module via the communication module. The prize information includes at least the prize status and the weight of the prize.

[0078] The data analysis module determines the popularity of different types of prize machines by analyzing prize-winning information.

[0079] After a prize machine completes a prize dispensing action, the control chip transmits the prize information (including dispensing status, prize weight, etc.) to the server module via a communication module according to a set format and communication method. The server-side data analysis module performs classification, statistics, and correlation analysis on this large amount of prize information, such as determining which type of prize machine is more popular. Based on the analysis results of the popularity of different types of prize machines, operators can reasonably adjust the placement of prize machines and the configuration of prizes, placing more popular prize machines in more conspicuous, high-traffic locations, while replacing unpopular prizes. This improves the overall attractiveness and profitability of the prize machines, helps understand market preferences for different prizes and prize machine gameplay, and provides valuable market feedback for subsequent prize machine research and development, improvement, and prize selection, better meeting user needs and enhancing market competitiveness.

[0080] In addition, the server module can synchronize the parameters of the same gift machines.

[0081] In some embodiments of the present invention, the control chip is also configured with a fault self-diagnosis module.

[0082] When a system malfunctions, it can quickly and automatically identify the potentially problematic parts or components, reducing the time and workload of manual troubleshooting. Maintenance personnel can quickly locate and resolve issues based on fault information, improving maintenance efficiency and shortening downtime of gift machines due to malfunctions. By promptly identifying and addressing potential faults, it prevents minor faults from escalating into major problems, ensuring the long-term stable and reliable operation of the gift machine's gripper control system, enhancing user experience, and reducing operating costs.

[0083] In some embodiments of the present invention, the intelligent gripper control system for gift machines also includes a power conversion module for providing a stable output voltage.

[0084] According to one aspect of the invention, a gripper control method is provided based on any of the above-mentioned technical solutions in the intelligent gripper control system for gift machines. The gripper opening size is determined by the distance the gripper rod moves and the temperature of the drive coil, and the voltage and / or current of the drive coil is adjusted.

[0085] A large amusement park introduced 50 prize machines based on this system. After one month of operation, the player complaint rate dropped from 10% to 3%, and the restocking frequency of popular prizes increased by 50%. Back-end data showed that the average prize payout rate of the machines was within 3%, and revenue increased by 25% month-on-month, demonstrating remarkable results.

[0086] In summary, the intelligent gripper control system and method for gift machines of the present invention can ensure gripping accuracy, reduce gripper positioning error to the millimeter level through real-time distance adjustment, adapt to various items in the gift machine, and achieve a prize-winning rate of less than 3%.

[0087] Stable and durable performance; temperature compensation mechanism ensures constant gripper force throughout the entire process; equipment failure rate is reduced by 40% during continuous operation, extending service life.

[0088] Significant operational benefits: The server module's data analysis module enables precise product selection and parameter optimization.

[0089] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A smart gripper control system for a gift machine, characterized in that, It includes a control chip, a detection module, and a drive module for driving the grippers to open or tighten; The drive module includes at least a drive coil; The gripper includes multiple gripping bars; The detection module, used to detect the distance moved by multiple clamps and the temperature of the drive coil in real time, is communicatively connected to the control chip. The control chip determines the opening size of the gripper by measuring the distance the gripper moves and the temperature of the drive coil, and adjusts the voltage and / or current of the drive coil accordingly.

2. The intelligent gripper control system for gift machines according to claim 1, characterized in that, The detection module includes a displacement sensor for real-time detection of the distance moved by multiple clamps and a temperature sensor for detecting the temperature of the drive coil. The displacement sensor is fixedly mounted on the corresponding clamping rod; The temperature sensor is located inside the gripper, close to the drive coil.

3. The intelligent gripper control system for gift machines according to claim 1, characterized in that, Also includes: A time crystal oscillator is used to provide a time reference for the control chip and is electrically connected to the control chip. A chip crystal oscillator, used to provide clock signals to the control chip, is electrically connected to the control chip.

4. The intelligent gripper control system for gift machines according to claim 1, characterized in that, Also includes: The control chip communicates with the host computer through the communication module.

5. The intelligent gripper control system for gift machines according to claim 4, characterized in that, The control chip also connects to the server module via the communication module to upload the corresponding gripper detection data to the server module; The server module is configured with a data analysis module for statistical analysis of the detection data.

6. The intelligent gripper control system for gift machines according to claim 5, characterized in that, The control chip also uploads prize information to the server module through the communication module. The prize information includes at least the prize status and the weight of the gift. The data analysis module determines the popularity of different types of prize machines by analyzing the prize information.

7. The intelligent gripper control system for gift machines according to claim 1, characterized in that, The displacement sensor is an ultrasonic sensor or a laser sensor.

8. The intelligent gripper control system for gift machines according to claim 1, characterized in that, The control chip is also equipped with a fault self-diagnosis module.

9. The intelligent gripper control system for gift machines according to claim 1, characterized in that, It also includes a power conversion module.

10. A gripper control method based on the intelligent gripper control system for gift machines as described in any one of claims 1 to 9, characterized in that, The opening size of the gripper is determined by the distance the gripper moves and the temperature of the drive coil, and the voltage and / or current of the drive coil are adjusted accordingly.

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