CN110018644B - Control method for adaptive clamping - Google Patents
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- CN110018644B CN110018644B CN201810021823.0A CN201810021823A CN110018644B CN 110018644 B CN110018644 B CN 110018644B CN 201810021823 A CN201810021823 A CN 201810021823A CN 110018644 B CN110018644 B CN 110018644B
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- G05B19/00—Programme-control systems
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Abstract
A control method of adaptive clamping is executed by an electric clamping jaw, the electric clamping jaw comprises an object taking module and a control module, the method is that the control module stores N different set speed values, N is more than or equal to 2, and the control module samples in a voltage range which can make the fetching module act in a steady-state interval in which the fetching module executes the first action to obtain a plurality of sampling voltage values, and averages the sampling voltage values according to the plurality of sampling voltage values, the average voltage values corresponding to the ith set speed value are calculated to obtain a plurality of voltage thresholds corresponding to the ith set speed value, and the voltage thresholds can be used for driving the fetching module to execute the required speed and fetching action.
Description
Technical Field
The present invention relates to a clamping control method, and more particularly, to a control method for adaptive clamping.
Background
The conventional actuation method of the electric clamping jaw is to send a driving signal by a control module to control an fetching module to execute a required action at a required speed, however, the driving signal is pre-written in the control module, and it is not considered that the fetching module may accidentally generate abnormal clamping action when executing a clamping action at a certain set clamping speed due to various environmental factors (such as temperature, dimension error of an object to be fetched, and machine vibration …) in an actual operation process, so that the machine stops swinging and the production capacity of a production line is reduced.
Disclosure of Invention
The invention aims to provide an adaptive clamping control method which can avoid machine halt caused by abnormal clamping action and can improve the productivity of a production line.
The invention discloses a control method of adaptive clamping, which is executed by an electric clamping jaw, wherein the electric clamping jaw comprises an object taking module and a control module for generating a plurality of driving voltages for changing the actuating state of the object taking module, and the method comprises a step (A), a step (B), a step (C), a step (D) and a step (G).
And (A) storing N different set speed values for the control module, wherein N is more than or equal to 2.
In the step (B), the control module sets the ith set speed value as the current target speed value, where i is 1, 2, 3, …, N.
And (C) sampling in a voltage range which can enable the fetching module to actuate by the control module within a steady-state interval in which the fetching module executes the first action to obtain a plurality of sampling voltage values, wherein the steady-state interval is defined as a time interval in which the actual running speed of the fetching module is equal to the ith set speed value.
And (D) averaging the control module according to the plurality of sampling voltage values to obtain a plurality of average voltage values respectively corresponding to the first action and the ith set speed value.
And (G) the control module calculates the average voltage values and the offset values corresponding to the average voltage values to obtain a plurality of voltage thresholds respectively corresponding to the ith set speed value.
The control method of the adaptive clamping of the invention, the step (C) comprises the following substeps:
(C-1) the control module generates the driving voltage related to the ith set speed value to control the fetching module to execute the first action,
(C-2) the control module judging whether the actual operating speed of the fetching module is equal to the i-th set speed value, returning to the sub-step (C-1) when the control module judges that the actual operating speed of the fetching module is not equal to the i-th set speed value,
(C-3) when the control module judges that the actual operating speed of the fetching module is equal to the ith set speed value, the control module stores a plurality of sampling voltage values in the steady-state interval, and
(C-4) the control module determines whether an actual position reached by the fetching module operating at the actual operating speed is equal to a set position, the set position being associated with a position reached by the fetching module when the fetching module is driven to perform the first action at the ith set speed value, when the control module determines that the actual position of the fetching module is not equal to the set position, the sub-step (C-1) is returned, and when the control module determines that the actual position of the fetching module is equal to the set position, the step (D) is returned.
The method for controlling adaptive clamping of the present invention further comprises the following steps after the step (D):
(E) the control module samples the driving voltage in the steady-state interval range to obtain a plurality of sampling voltage values in the steady-state interval of the second action executed by the fetching module, and
(F) the control module averages according to a plurality of sampling voltage values to obtain an average voltage value corresponding to the second action and the ith set speed value.
The control method of the adaptive clamping of the invention, the step (E) comprises the following substeps:
(E-1) the control module generates the driving voltage related to the ith set speed value to control the fetching module to execute the second action,
(E-2) the control module judges whether the actual running speed of the fetching module is equal to the ith set speed value or not, if not, returns to the substep (E-1),
(E-3) when the control module determines that the actual operating speed of the fetching module is equal to the ith set speed value, the control module stores a plurality of sampling voltage values within the steady-state interval, an
(E-4) the control module determines whether the actual position reached by the fetching module operating at the actual operating speed is equal to the set position, the set position is related to the position reached by the fetching module when the fetching module is driven to perform the second action at the ith set speed value, when the control module determines that the actual position of the fetching module is not equal to the set position, the substep (E-1) is returned, and when the control module determines that the actual position of the fetching module is equal to the set position, the substep (F) is returned.
The control method of the adaptive clamping of the present invention, said step (G) comprises the substeps of:
(G-1) the control module determines whether the ith set speed value is equal to the nth set speed value, if not, returning to the step (B), and
(G-2) when the ith set speed value is equal to the nth set speed value, the control module adds each average voltage value to the corresponding offset value to obtain the voltage threshold value, and stores each voltage threshold value.
The control method of the adaptive clamping further comprises the following steps:
(H) the control module loads each of the voltage thresholds,
(I) the control module controls the fetching module to execute one of the first action and the second action at the ith set speed value, and samples the driving voltage related to the set speed value in the steady-state interval when the fetching module executes the action to obtain a plurality of sampling voltage values,
(J) the control module judges whether the actual position reached by the fetching module after the fetching module operates at the ith set speed value is equal to the set position, the set position is related to the position reached by the fetching module when the fetching module is driven to operate at the ith set speed value,
(K) when the control module judges that the actual position of the fetching module is not equal to the set position, the control module judges whether the average voltage value corresponding to the fetching module operating at the ith set speed value is greater than the corresponding voltage threshold value, if not, the step (I) is returned to,
(L) when the control module determines that the actual position of the fetching module is equal to the set position and the control module determines that one of the average voltage value corresponding to the fetching module operating at the ith set speed value and the voltage threshold value corresponding to the fetching module is greater than the set voltage threshold value, the control module averages the average voltage values according to a plurality of sampling voltage values to obtain an average voltage value corresponding to the action and the ith set speed value, and
(M) the control module operates the average voltage value with the corresponding offset value to obtain an updated voltage threshold.
The invention discloses a control method of adaptive clamping, wherein the step (I) comprises the following steps:
(I-1) the control module controls the fetching module to perform one of the first motion and the second motion at the ith set speed value,
(I-2) the control module determines whether the actual operating speed of the fetching module is equal to the I-th set speed value, and returns to the sub-step (I-1) when the control module determines that the actual operating speed of the fetching module is not equal to the I-th set speed value, and
(I-3) when the control module judges that the actual running speed of the fetching module is equal to the ith set speed value, the control module stores a plurality of sampling voltage values in the steady-state interval.
The present invention provides an electric jaw, comprising:
an object taking module; and
the control module is used for generating a plurality of driving voltages for changing the actuating state of the fetching module, the control module stores N different set speed values, N is more than or equal to 2, and the ith set speed value is taken as the current target speed value, i is 1-N, and in the steady-state interval in which the fetching module is driven to execute the first action, sampling a plurality of driving voltages corresponding to the steady-state interval to obtain a plurality of sampling voltage values, averaging according to the plurality of sampling voltage values, to obtain average voltage values corresponding to the first action and the ith set speed value, and then to calculate the average voltage values and the corresponding offset values to obtain a plurality of voltage threshold values respectively corresponding to the ith set speed value, the steady-state interval is defined as a time interval when an actual running speed of the fetching module is equal to the ith set speed value.
The invention has the beneficial effects that: when the fetching module executes the steady-state interval of the first action, the control module samples a plurality of corresponding driving voltages in the steady-state interval to obtain a plurality of sampling voltage values, averages the plurality of sampling voltage values to obtain average voltage values corresponding to the first action and the ith set speed value, and calculates each average voltage value and the corresponding offset value to obtain the corresponding voltage threshold value, so that the control module can be correctly used for driving the fetching module to execute the required speed and fetching action.
Drawings
Other features and effects of the present invention will be clearly apparent from the embodiments with reference to the drawings:
FIG. 1 is a block diagram illustrating a motorized jaw for performing one embodiment of the adaptive clamping control method of the present invention;
FIG. 2A is a flow chart illustrating an initial process of the embodiment;
FIG. 2B is a flow chart that assists in describing the initial process;
FIG. 2C is a flow chart that assists in describing the initial process;
FIG. 2D is a flow chart that assists in describing the initial process;
FIG. 3 is a waveform diagram illustrating a relationship between a set speed value and a voltage;
FIG. 4 is a waveform diagram illustrating a steady state interval and a sampling voltage relationship;
FIG. 5A is a flow chart illustrating an update procedure of the embodiment;
FIG. 5B is a flow chart that assists in explaining the update process;
FIG. 6 is a waveform diagram for illustrating the voltage threshold range;
FIG. 7 is a waveform diagram illustrating the relationship between the set speed value and the steady-state interval; and
fig. 8 is a waveform diagram illustrating a corresponding relationship between a set position and the steady state interval.
Detailed Description
Before the present invention is described in detail, it should be noted that in the following description, similar components are denoted by the same reference numerals.
Referring to fig. 1 and 2A, an embodiment of the present invention includes an electric gripper, the electric gripper includes a control module 2, and an object-taking module 3 driven by a driving voltage generated by the control module 2, the control module includes a controller 21, a driver 22 electrically connected to the controller 21, a storage 23 electrically connected to the controller 21, and a receiver 24 electrically connected to the controller 21, the object-taking module 3 includes a motor 31 electrically connected to the driver 22, a gripper 32 connected to the motor 31, and an encoder 33 electrically connected to the motor 31, the motor 31 is driven to control the gripper 32 to perform one of a first action and a second action. The electric gripper is mainly composed of the control module 2 and the fetching module 3, but not limited to separate the two, the control module 2 can also be integrated into the fetching module 3, the transceiver 24 is used for a user to transmit and receive operation related information of the controller 21, the memory 23 is used for recording developer establishment data and model data, the driver 22 is used for driving the motor 31 and feedback voltage signals, the gripper 32 is driven by the rotation of the motor 31 and is converted into reciprocating opening and closing linear motion, and the encoder 33 is used for sensing the position of the motor 31.
The electric clamping jaw executes a control method of adaptive clamping, and the control method of adaptive clamping comprises an initial program and an updating program. The initial procedure includes a step 41, a step 42, a step 43, a step 44, a step 45, a step 46, and a step 47.
In step 41, the memory 23 of the control module 2 stores N different set speed values, where N is greater than or equal to 2.
Referring to fig. 3, each of the set speed values corresponds to a voltage waveform of a related driving voltage, taking the I-th interval as an example, which is a voltage value corresponding to a speed of 1(mm/s), and taking the II-th interval as an example, which is a voltage value corresponding to a speed of 2 (mm/s).
Referring to fig. 2A again, in the step 42, the controller 21 of the control module 2 sequentially uses the ith set speed value as the current target speed value, where i is 1, 2, 3, …, N.
In step 43, the controller 21 samples the driving voltage to obtain a plurality of sampling voltage values in a steady-state interval T during which the driver 22 is controlled to drive the motor 31 to operate, and further the clamper 32 is controlled to execute the first action.
Referring to fig. 4, at the initial moment when the fetching module 3 is driven by voltage, since a large voltage surge occurs at this moment to cause unstable driving voltage, the controller 21 samples the driving voltage within a steady-state interval T corresponding to when the voltage reaches a steady state, where the steady-state interval T is defined as a time interval when an actual operating speed of the fetching module 3 is equal to the ith set speed value and the voltage surge is eliminated.
Referring to fig. 7, in the steady-state interval T, the ith set speed value is a fixed value at this time, and is the actual operating speed.
Referring to fig. 2B and fig. 8, the step 43 further includes a detailed flow of a next sub-step 431, a sub-step 432, a sub-step 433, and a sub-step 434.
In the sub-step 431, the controller 21 generates the driving voltage related to the i-th set speed value for driving the motor 31 via the driver 22 to control the gripper 32 to perform the first action.
In the sub-step 432, the controller 21 determines whether the actual operating speed of the clamper 32 is equal to the i-th set speed value through the voltage signal fed back from the encoder 33, and returns to the sub-step 431 when the controller 21 determines that the actual operating speed of the clamper 32 is not equal to the i-th set speed value.
In the sub-step 433, when the controller 21 determines that the actual operating speed of the gripper 32 is equal to the i-th set speed value, the controller 21 stores a plurality of sampled voltage values sampled in the steady-state interval T in the storage 23.
In sub-step 434, the controller 21 determines whether an actual position reached by the gripper 32 operating at the actual operating speed is equal to a set position, the set position being associated with a position reached by the motor 31 being driven to control the gripper 32 to perform the first action at the ith set speed value, returns to sub-step 431 when the controller 21 determines that the actual position of the gripper 32 is not equal to the set position, and returns to step 44 when the controller 21 determines that the actual position of the gripper 32 is equal to the set position. The encoder 33 is used to sense the position of the motor 31 and transmit the position information back to the controller 21.
Referring to fig. 2A again, in step 44, the controller 21 averages the sampled voltage values to obtain a plurality of average voltage values corresponding to the first action and the i-th set speed value, respectively.
In step 45, the controller 21 samples the driving voltage within the steady-state interval T during which the clamper 32 executes the second action to obtain a plurality of sampling voltage values.
Referring to fig. 2C, the step 45 further includes the detailed flow of the following sub-steps 451, 452, 453, and 454.
In the sub-step 451, the controller 21 generates the driving voltage related to the i-th set speed value to drive the motor 31 via the driver 22, so as to control the gripper 32 to perform the second action.
In the sub-step 452, the controller 21 determines whether the actual operating speed of the clamper 32 is equal to the i-th set speed value through the voltage signal fed back from the encoder 33, and returns to the sub-step 451 when the controller 21 determines that the actual operating speed of the clamper 32 is not equal to the i-th set speed value.
In the sub-step 453, when the controller 21 determines that the actual operating speed of the clamper 32 is equal to the i-th set speed value, the controller 21 stores a plurality of sampling voltage values in the steady-state interval T.
In the sub-step 454, the controller 21 determines whether the actual position reached by the gripper 32 operating at the actual operating speed is equal to the set position, the set position is related to a position reached by the motor 31 being driven to control the gripper 32 to perform the second action at the ith set speed value, when the controller 21 determines that the actual position of the gripper 32 is not equal to the set position, the sub-step 451 is returned to, and when the controller 21 determines that the actual position of the gripper 32 is equal to the set position, the step 46 is returned to.
In the step 46, the controller 21 averages a plurality of sampled voltage values to obtain an average voltage value corresponding to the second action and the i-th set speed value.
Referring to fig. 2A again, in step 47, the controller 21 calculates each average voltage value and its corresponding offset value to obtain a plurality of voltage threshold values respectively corresponding to the i-th set speed value.
Referring to fig. 2D, the step 47 further includes a detailed flow of a sub-step 471 and a sub-step 472.
In the sub-step 471, the controller 21 determines whether the set speed value reaches N, and if not, returns to the step 42 and executes the subsequent steps.
In the sub-step 472, when the set speed value reaches N, the controller 21 adds each average voltage value to the corresponding offset value to obtain the voltage threshold, and stores the voltage threshold in the storage 23.
The initial program of the control method for adaptive clamping generates related driving voltages according to 1-N different set speed values stored in a memory by the controller of the control module, and is used for driving the motor of the fetching module through the driver to control the clamp to sequentially execute the first action and the second action at N different set speed values respectively, when the actual running speed of the clamp is equal to the ith set speed value, the controller samples and records the driving voltages related to the actual running speed of the clamp in the time interval, and performs an average operation to obtain an average voltage value corresponding to the first action and the second action executed at each set speed value, and adds a related offset value to each average voltage value according to an empirical rule to obtain a corresponding voltage threshold value, the reference operation parameters are used as the reference operation parameters that the electric clamping jaw can correctly execute the required speed and the object taking action when the electric clamping jaw is formally operated to take the object, so that the machine can be operated normally, and the production capacity of a production line is improved.
Referring to fig. 1 and 5A, the update procedure includes a step 51, a step 52, a step 53, a step 54, a step 55, and a step 56.
In step 51, the controller 21 loads each voltage threshold from the storage 23.
In the step 52, the controller 21 drives the motor 31 to operate through the driver 22, so as to control the clamper 32 to execute one of the first action and the second action at the ith speed value, and samples the driving voltage associated with the speed value to obtain a plurality of sampling voltage values within the steady-state interval T when the clamper 32 executes the action.
Referring to fig. 5B, the step 52 further includes a detailed flow of a next sub-step 521, a sub-step 522, and a sub-step 523.
In the sub-step 521, the controller 21 drives the motor 31 to operate via the driver 22, thereby controlling the clamper 32 to execute one of the first action and the second action at the ith speed value.
In the sub-step 522, the controller 21 determines whether the actual operating speed of the clamper 32 is equal to the i-th set speed value, and returns to the sub-step 521 when the controller 21 determines that the actual operating speed of the clamper 32 is not equal to the i-th set speed value.
In the sub-step 523, when the controller 21 determines that the actual operating speed of the clamper 32 is equal to the i-th set speed value, the controller 21 stores a plurality of sampling voltage values in the steady-state interval T.
Referring to fig. 5A again, in step 53, the controller 21 determines whether the actual position reached by the gripper 32 after operating at the ith set speed value is equal to the set position, where the set position is related to the position reached by the gripper 32 when operating at the ith set speed value driven by the driven motor 31.
In the step 54, when the controller 21 determines that the actual position of the clamper 32 is not equal to the set position, the controller 21 determines whether the average voltage value corresponding to the operation of the clamper 32 at the ith set speed value is greater than the corresponding voltage threshold value, and if not, the process returns to the step 52.
In step 55, when the controller 21 determines that the actual position of the clamper 32 is equal to the set position and the controller 21 determines that one of the average voltage value corresponding to the operation of the clamper 32 at the ith set speed value and the voltage threshold value is greater than the corresponding voltage threshold value, the controller 21 averages the average voltage values according to a plurality of sampling voltage values to obtain an average voltage value corresponding to the operation and the ith set speed value.
In step 56, the controller 21 calculates the average voltage value and the corresponding offset value to obtain an updated voltage threshold.
Referring to fig. 6, the upper voltage threshold and the lower voltage threshold are the upper and lower limits of the variable value obtained by calculating the average voltage value and the corresponding offset value, and are also the upper and lower limits of the variable updated voltage threshold.
The updating program drives the motor of the fetching module through the driver by the controller of the control module according to each voltage threshold loaded by the memory so as to control the gripper to execute one of the first action and the second action at an ith set speed value, and when the actual operating speed of the gripper is equal to the ith set speed value, the controller samples and records the driving voltage related to the actual operating speed of the gripper in the time interval and carries out average operation so as to obtain an average voltage value relative to the execution of one of the first action and the second action at the set speed value, and then adds the related offset value to the average voltage value according to an empirical rule so as to obtain a corresponding voltage threshold, so as to update the original voltage threshold, the operation parameters of the electric clamping jaw can correctly execute the required speed and the object fetching action when the electric clamping jaw is operated for fetching the object next time, so that the machine can continuously and normally operate, and the production capacity of a production line is improved.
In summary, the adaptive clamping control method of the present invention samples and calculates the voltage signal corresponding to the operation of the gripper of the fetching module through the controller of the control module to obtain the average voltage value corresponding to the execution of the first and second actions at each set speed value, and adds a related offset value to each average voltage value according to the rule of thumb to obtain the corresponding voltage threshold value as the reference operation parameter for correctly executing the required speed and fetching action when the electric clamping jaw operates to fetch the object, so that the machine can normally operate and the productivity can be improved, thereby achieving the purpose of the present invention.
The above description is only a preferred embodiment of the present invention, and the scope of the present invention should not be limited thereby, and all the simple equivalent changes and modifications made by the claims and the contents of the specification should be included in the scope of the present invention.
Claims (8)
1. A control method of adaptive clamping is executed by an electric clamping jaw, the electric clamping jaw comprises an object taking module and a control module for generating a plurality of driving voltages for changing the actuating state of the object taking module, and the method is characterized by comprising the following steps:
(A) the control module stores N different set speed values, wherein N is more than or equal to 2;
(B) the control module takes the ith set speed value as a current target speed value, wherein i is 1, 2, 3, …, N;
(C) the control module samples within a voltage range which can enable the fetching module to actuate within a steady-state interval in which the fetching module executes a first action to obtain a plurality of sampling voltage values, wherein the steady-state interval is defined as a time interval in which the actual running speed of the fetching module is equal to the ith set speed value;
(D) the control module averages the sampling voltage values to obtain a plurality of average voltage values respectively corresponding to each ith set speed value; and
(G) and the control module calculates the average voltage values and the offset values corresponding to the average voltage values to obtain a plurality of voltage threshold values respectively corresponding to the ith set speed value.
2. The method of controlling adaptive clamping according to claim 1, wherein the step (C) comprises the sub-steps of:
(C-1) the control module generates the driving voltage related to the ith set speed value to control the fetching module to execute the first action,
(C-2) the control module judging whether the actual operating speed of the fetching module is equal to the i-th set speed value, returning to the sub-step (C-1) when the control module judges that the actual operating speed of the fetching module is not equal to the i-th set speed value,
(C-3) when the control module judges that the actual operating speed of the fetching module is equal to the ith set speed value, the control module stores a plurality of sampling voltage values in the steady-state interval, and
(C-4) the control module determines whether an actual position reached by the fetching module operating at the actual operating speed is equal to a set position, the set position being associated with a position reached by the fetching module when the fetching module is driven to perform the first action at the ith set speed value, when the control module determines that the actual position of the fetching module is not equal to the set position, the sub-step (C-1) is returned, and when the control module determines that the actual position of the fetching module is equal to the set position, the step (D) is returned.
3. The adaptive clamping control method according to claim 1, further comprising the following steps after the step (D):
(E) the control module samples the driving voltage in the steady-state interval range to obtain a plurality of sampling voltage values in the steady-state interval of the second action executed by the fetching module, and
(F) the control module averages according to a plurality of sampling voltage values to obtain an average voltage value corresponding to the second action and the ith set speed value.
4. The method of controlling adaptive clamping according to claim 3, wherein the step (E) comprises the sub-steps of:
(E-1) the control module generates the driving voltage related to the ith set speed value to control the fetching module to execute the second action,
(E-2) the control module judges whether the actual running speed of the fetching module is equal to the ith set speed value or not, if not, returns to the substep (E-1),
(E-3) when the control module determines that the actual operating speed of the fetching module is equal to the ith set speed value, the control module stores a plurality of sampling voltage values within the steady-state interval, an
(E-4) the control module determines whether an actual position reached by the fetching module operating at the actual operating speed is equal to a set position, the set position being associated with a position reached by the fetching module when the fetching module is driven to perform the second action at the ith set speed value, when the control module determines that the actual position of the fetching module is not equal to the set position, the substep (E-1) is returned, and when the control module determines that the actual position of the fetching module is equal to the set position, the substep (F) is returned.
5. The method of claim 4, wherein the step (G) comprises the sub-steps of:
(G-1) the control module determines whether the ith set speed value is equal to the nth set speed value, if not, returning to the step (B), and
(G-2) when the ith set speed value is equal to the nth set speed value, the control module adds each average voltage value to the corresponding offset value to obtain the voltage threshold value, and stores each voltage threshold value.
6. The adaptive clamping control method according to claim 4, further comprising the steps of:
(H) the control module loads each of the voltage thresholds,
(I) the control module controls the fetching module to execute one of the first action and the second action at the ith set speed value, and samples the driving voltage related to the set speed value in the steady-state interval when the fetching module executes the action to obtain a plurality of sampling voltage values,
(J) the control module judges whether the actual position reached by the fetching module after the fetching module operates at the ith set speed value is equal to the set position, the set position is related to the position reached by the fetching module when the fetching module is driven to operate at the ith set speed value,
(K) when the control module judges that the actual position of the fetching module is not equal to the set position, the control module judges whether the average voltage value corresponding to the fetching module operating at the ith set speed value is greater than the corresponding voltage threshold value, if not, the step (I) is returned to,
(L) when the control module determines that the actual position of the fetching module is equal to the set position and the control module determines that one of the average voltage value corresponding to the fetching module operating at the ith set speed value and the voltage threshold value corresponding to the fetching module is greater than the set voltage threshold value, the control module averages the average voltage values according to a plurality of sampling voltage values to obtain an average voltage value corresponding to the action and the ith set speed value, and
(M) the control module operates the average voltage value with the corresponding offset value to obtain an updated voltage threshold.
7. The adaptive clamping control method according to claim 6, wherein the step (I) comprises the steps of:
(I-1) the control module controls the fetching module to perform one of the first motion and the second motion at the ith set speed value,
(I-2) the control module determines whether the actual operating speed of the fetching module is equal to the I-th set speed value, and returns to the sub-step (I-1) when the control module determines that the actual operating speed of the fetching module is not equal to the I-th set speed value, and
(I-3) when the control module judges that the actual running speed of the fetching module is equal to the ith set speed value, the control module stores a plurality of sampling voltage values in the steady-state interval.
8. An electrically powered clamping jaw, comprising:
an object taking module; and
the control module is used for generating a plurality of driving voltages for changing the actuating state of the fetching module,
the control module stores N different set speed values, N is larger than or equal to 2, an ith set speed value is used as a current target speed value, i is 1-N, in a steady-state interval in which the fetching module is driven to execute a first action, a plurality of corresponding driving voltages in the steady-state interval are sampled to obtain a plurality of sampling voltage values, the sampling voltage values are averaged according to the sampling voltage values to obtain average voltage values corresponding to the first action and the ith set speed value, the average voltage values and offset values corresponding to the average voltage values are calculated to obtain a plurality of voltage threshold values respectively corresponding to the ith set speed value, and the steady-state interval is defined as a time interval in which an actual operating speed of the fetching module is equal to the ith set speed value.
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| CN201810021823.0A CN110018644B (en) | 2018-01-10 | 2018-01-10 | Control method for adaptive clamping |
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| JPH02189073A (en) * | 1989-01-17 | 1990-07-25 | Fuji Xerox Co Ltd | Picture data adjustment system for picture reader |
| US7863851B2 (en) * | 2007-08-22 | 2011-01-04 | National Instruments Corporation | Closed loop stepper motor control |
| CN102549910B (en) * | 2009-09-29 | 2016-05-25 | 胡斯华纳有限公司 | Motor and for controlling the method for this motor |
| JP2012075587A (en) * | 2010-09-30 | 2012-04-19 | Panasonic Corp | Passive exercise device |
| JP6291352B2 (en) * | 2014-05-26 | 2018-03-14 | 日本電産サンキョー株式会社 | Motor control device and motor control method |
| CN106033212B (en) * | 2015-03-10 | 2019-04-12 | 上银科技股份有限公司 | Electrical clip jaw system and its control method |
| JP6203775B2 (en) * | 2015-03-31 | 2017-09-27 | ファナック株式会社 | Robot system for determining abnormality of fixed workpiece, and abnormality determination method |
| CN105388792B (en) * | 2015-12-04 | 2017-11-10 | 上海交通大学 | Gripping performance regulator control system and its method for robot gripper |
| CN107213631A (en) * | 2017-06-16 | 2017-09-29 | 谢代英 | A kind of gripper structure |
| CN107344361A (en) * | 2017-06-26 | 2017-11-14 | 广州雪暴电子科技有限公司 | The gripper grip dynamic self-adapting adjusting method and system of doll machine |
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