CN117484512B

CN117484512B - Electric clamping jaw control method and electric clamping jaw

Info

Publication number: CN117484512B
Application number: CN202311857880.XA
Authority: CN
Inventors: 杨文成; 邵家永; 张常森
Original assignee: Suzhou Jodell Robotics Co ltd
Current assignee: Suzhou Jodell Robotics Co ltd
Priority date: 2023-12-29
Filing date: 2023-12-29
Publication date: 2024-04-05
Anticipated expiration: 2043-12-29
Also published as: CN117484512A

Abstract

The invention discloses an electric clamping jaw control method and an electric clamping jaw, wherein the electric clamping jaw control method comprises the following steps: a) Driving a motor shaft to rotate in a first direction by a first current value I1, and driving a clamping jaw to primarily clamp an object to be clamped by the motor shaft; b) After primary clamping is in place, maintaining a first current value I1 to enable a motor shaft to be in a static state, and braking by a brake; c) When the first current value I1 is in the interval, the brake releases the brake, the motor shaft is driven by the second current value I2 to continuously rotate in the first direction, the second current value I2 is larger than the current value of I3+theta, the motor shaft drives the brake to pass through the first position and continuously rotate by a first compensation angle delta, the motor shaft is driven by the third current value I3 to rotate in the second direction, when the first braking surface and the second braking surface are clamped at the second position, the brake is kept in a braking state, the motor shaft is powered off or runs with safe current, and the safe current is smaller than the rated current of the motor.

Description

Electric clamping jaw control method and electric clamping jaw

Technical Field

The invention relates to the technical field of manipulator clamping, in particular to an electric clamping jaw control method and an electric clamping jaw.

Background

The existing manipulator for clamping is usually used for clamping objects to be clamped through an electric clamping jaw. The clamping force of the clamping jaw is usually set in the range of the safe clamping force of the object to be clamped, and the safe clamping force means that the object to be clamped cannot be clamped due to too large clamping force while clamping and picking up the object to be clamped are met. In order to improve the clamping force of the clamping jaw during clamping, a brake part 101 is arranged on a motor shaft, a brake 102 is sleeved on the outer layer of the brake part 101, the clamping force of the clamping jaw usually holds the motor shaft through the brake 102 when the motor outputs instantaneous high torque, then the motor is powered down and unloaded, and finally the brake maintains the load, so that the purpose of realizing large clamping force by using a low-power motor is achieved. The brake 102 is sleeved on the outer layer of the brake part 101 of the motor shaft, a gap (shown as a part a in fig. 1) exists between the brake 102 and the brake part 101, when the motor shaft rotates, the brake 102 is controlled to release braking, the brake 102 sleeved on the outer layer of the brake part 101 can passively rotate synchronously with the motor shaft (shown as a part b in fig. 1), after the motor shaft stops rotating, the brake 102 can shake and rotate back and forth between a part b state in fig. 1 and a part c state in fig. 1 due to the action of inertia, after the brake 102 stops shaking and rotating, the final stop state of the brake 102 is kept by controlling the brake 102 so as to achieve the stop position of the motor shaft, thereby achieving the purpose of limiting the motor shaft and avoiding the problem of damping of clamping force caused by the reverse rotation of the motor shaft after power failure and unloading. However, since the final stop position of the brake 102 after the back and forth rotation is not the c-section state in fig. 1, the clamping force is attenuated after the motor shaft is unloaded, and the attenuation of the clamping force may even reach 20%, which affects the accuracy of the clamping force. In addition, the clamping force of the electric clamping jaws is attenuated after long-term operation, and in addition, the clamping force of the electric clamping jaws in the same batch is inconsistent, namely, the clamping force of a plurality of electric clamping jaws on the same assembly line is inconsistent, and the clamping force of a single electric clamping jaw is attenuated. In this case, the final clamping force is obviously not satisfactory if it is still set in accordance with a uniform clamping force stroke.

How to solve the problem of insufficient precision of clamping force of an electric clamping jaw and the problem of inconsistent attenuation of clamping force of a plurality of electric clamping jaws has become a technical problem to be solved in the industry.

Disclosure of Invention

In order to at least solve the technical problems, the invention aims to provide an electric clamping jaw control method which solves the problems that a brake is electrified to keep braking after clamping an object to be clamped by a clamping jaw and a motor shaft is reversely rotated after power failure to cause unloading and attenuation of clamping force of the clamping jaw, and further the precision of the clamping force is maintained.

In order to achieve the above object, the present application provides an electric jaw control method, including:

the electric clamping jaw comprises a driving circuit, a motor shaft, a clamping jaw and a brake, wherein the motor shaft is provided with a braking part; the motor shaft is used for driving the clamping jaw to open and close, the outer layer of the braking part is provided with a first braking surface, the brake is sleeved outside the braking part and is provided with a second braking surface which can be matched with the first braking surface; limiting rotation of the motor shaft by cooperation of the first braking surface and the second braking surface; a movable gap is arranged between the first braking surface and the second braking surface; the clamping positions of the first braking surface and the second braking surface comprise a first position and a second position, wherein the first position is defined as the relative position of the first braking surface and the second braking surface when the motor shaft rotates in a first direction to drive the brake to synchronously rotate, and the second position is defined as the relative position of the first braking surface and the second braking surface when the motor shaft rotates in a second direction to drive the brake to synchronously rotate; the second direction is opposite to the first direction; presetting a third current value I3, wherein the third current value I3 corresponds to the preset clamping force of the electric clamping jaw to the object to be clamped; defining a current value interval, wherein the boundaries of the current value interval are I3-theta and I3+ theta respectively, and theta is the minimum current when the motor shaft of the drive motor is transformed from the second position to the first position;

The control method comprises the following steps:

a) Driving a motor shaft to rotate in a first direction by a first current value I1, and driving a clamping jaw to primarily clamp an object to be clamped by the motor shaft;

b) After primary clamping is in place, maintaining a first current value I1 to enable a motor shaft to be in a static state, and braking by a brake;

c) When the first current value I1 is in the interval, the brake releases the brake, the motor shaft is driven by the second current value I2 to continuously rotate in the first direction, the second current value I2 is larger than the current value of I3+theta, the motor shaft drives the brake to pass through the first position and continuously rotate by a first compensation angle delta, the motor shaft is driven by the third current value I3 to rotate in the second direction, when the first braking surface and the second braking surface are clamped at the second position, the brake is kept in a braking state, the motor shaft is powered off or runs with safe current, and the safe current is smaller than the rated current of the motor.

Further, when the first current value I1 is smaller than the current value of I3-theta, the brake releases braking, the motor shaft is driven to rotate continuously in the first direction by the third current value I3, and when the first braking surface and the second braking surface are clamped at the second position, the brake is kept in a braking state, and the motor shaft is powered off or runs at safe current.

Further, when the first current value I1 is larger than the current value of I3+θ, the brake releases the brake, the motor shaft is driven to rotate by the current value of I3+θ, the motor shaft rotates in the second direction, and when the first braking surface and the second braking surface are clamped at the first position, the brake is kept in a braking state, and the motor shaft is powered off or runs with safe current.

Further, when the first current value I1 is greater than the current value i3+θ, the brake releases the brake, the motor shaft is driven to rotate with the current value I3, the motor shaft rotates in the second direction, and when the motor shaft stops, the brake is kept in a braking state, and the motor shaft is powered off or runs with a safe current.

Further, when the first current value I1 and the third current value I3 are equal, it is judged whether or not the motor shaft has a deflection tendency to rotate in the second direction when the driving current decreases;

if the brake is released, the motor shaft is driven by the second current value I2 to continuously rotate in the first direction, the second current value I2 is larger than the current value of I3+theta, the motor shaft drives the brake to pass through the first position and continuously rotate by a first compensation angle delta, the motor shaft is driven by the third current value I3 to rotate, the motor shaft rotates in the second direction, and when the first braking surface and the second braking surface are clamped at the first position, the brake is kept in a braking state, and the motor shaft is powered off or runs with safe current;

If not, the motor shaft is powered off or operated with safe current.

Further, when the first braking surface and the second braking surface are clamped at the second position, an included angle between the first braking surface and the second braking surface is a termination included angle;

the first braking surface and the second braking surface are clamped at the second position and have contact points;

the contact points include a first contact point on the first braking surface and a second contact point on the second braking surface;

the first contact point and the center point of the braking part form a contact point connecting line, and an included angle formed by the perpendicular line of the second braking surface where the second contact point is positioned and the contact point connecting line is a termination included angle;

when the first braking surface and the second braking surface are clamped at the first position, the included angle between the first braking surface and the second braking surface is an initial included angle;

the included angle formed by the connection line of the vertical line of the second braking surface and the contact point is an initial included angle;

in the step b, the motor shaft is electrified and kept in a static state, the brake is kept braked, and a stop azimuth angle between the brake and the brake part is obtained;

the stopping azimuth angle is an included angle formed by connecting a perpendicular line of the second braking surface with a contact point when the motor shaft is electrified to stop and the brake keeps a braking state;

when the first current value I1 is equal to the third current value I3, if the angle value of the stop azimuth angle is larger than the angle value of the termination included angle, the driving circuit drives the motor shaft to rotate in the first direction by the second current value I2 for secondary clamping.

Further, when the first current value I1 is within the interval and is greater than the third current value I3, the motor shaft is driven to rotate by the absolute value of the difference between the first current value I1 and the third current value I3, the motor shaft rotates in the second direction, and the rotating angle is the absolute value of the difference between the stop azimuth and the end included angle.

Further, in the step of driving the motor shaft to rotate in the first direction by the driving circuit at the second current value to perform the secondary clamping, the method further includes:

driving circuitThe current value corresponding to the angle value drives the motor shaft and drives the brake part to rotate in a first direction, and when the brake rotates in the first direction, the brake part rotates to a position of gamma angle in a second direction;

wherein, beta is an initial included angle;

gamma-actuating azimuth;

delta is a preset compensation included angle.

acquiring the clamping force of the clamping jaw when the clamping jaw clamps an object to be clamped when the braking part rotates in a unit angle;

according toAnd (3) calculating the corresponding clamping force during secondary clamping.

Further, in step b, from the first peak of the current of the motor shaft, after M peaks, defining that the motor shaft is in a stationary state;

Wherein M is an integer greater than or equal to 2;

or after a preset period from the first peak of the current of the motor shaft, defining that the motor shaft is in a static state.

To achieve the above object, an embodiment of the present invention further provides an electric gripper, including: the device comprises a control module, a driving circuit, a motor shaft, clamping jaws and a brake;

the motor shaft is provided with a braking part;

the motor shaft is used for driving the clamping jaw to open and close, the outer layer of the braking part is provided with a first braking surface, the brake is sleeved outside the braking part and is provided with a second braking surface which can be matched with the first braking surface;

limiting rotation of the motor shaft by cooperation of the first braking surface and the second braking surface;

a movable gap is arranged between the first braking surface and the second braking surface; the clamping positions of the first braking surface and the second braking surface comprise a first position and a second position, wherein the first position is defined as the relative position of the first braking surface and the second braking surface when the motor shaft rotates in a first direction to drive the brake to synchronously rotate, and the second position is defined as the relative position of the first braking surface and the second braking surface when the motor shaft rotates in a second direction to drive the brake to synchronously rotate;

the second direction is opposite to the first direction;

Presetting a third current value I3, wherein the third current value I3 corresponds to the preset clamping force of the electric clamping jaw to the object to be clamped;

defining a section, wherein the boundaries of the section are I3-theta and I3+ theta respectively, and theta is the minimum current when the drive motor shaft is transformed from the second position to the first position;

the control module drives a motor shaft to rotate in a first direction by a first current value I1, and the motor shaft drives a clamping jaw to primarily clamp an object to be clamped;

the control module, still include:

after primary clamping is in place, the control module maintains a first current value I1 to enable a motor shaft to be in a static state, and a brake brakes;

when the first current value I1 is in the interval, the brake releases the brake, the control module drives the motor shaft to rotate continuously in the first direction by the second current value I2, the second current value I2 is larger than the current value of I3+theta, the motor shaft drives the brake to pass through the first position and rotate continuously by the first compensation angle delta, the control module drives the motor shaft to rotate by the third current value I3, the motor shaft rotates in the second direction, and when the first braking surface and the second braking surface are clamped at the second position, the control module enables the brake to keep in a braking state, and the motor shaft is powered off or runs by safe current.

Further, when the first current value I1 is smaller than the current value of I3-theta, the brake releases braking, the control module drives the motor shaft to rotate continuously in the first direction with the third current value I3, and when the first braking surface and the second braking surface are clamped at the second position, the control module enables the brake to keep a braking state, and the motor shaft is powered off or runs with safe current.

Further, when the first current value I1 is greater than the current value of i3+θ, the brake releases the brake, the control module drives the motor shaft to rotate in the second direction by the current value of i3+θ, and when the first braking surface and the second braking surface are clamped at the first position, the control module enables the brake to keep a braking state, and the motor shaft is powered off or runs with safe current.

Further, when the first current value I1 is greater than the current value i3+θ, the brake releases the brake, the control module drives the motor shaft to rotate at the current value I3, the motor shaft rotates in the second direction, and when the motor shaft is in the motor shaft, the control module enables the brake to maintain the brake state, and the motor shaft is powered off or runs at a safe current.

if the brake releases the brake, the control module drives the motor shaft to rotate in the first direction by a second current value I2, the second current value I2 is larger than the current value of I3+theta, the motor shaft drives the brake to pass through the first position and rotate continuously by a first compensation angle delta, the control module drives the motor shaft to rotate by a third current value I3, the motor shaft rotates in the second direction, and when the first braking surface and the second braking surface are clamped at the first position, the control module enables the brake to keep a braking state, and the motor shaft is powered off or runs by safe current;

If not, the motor shaft is powered off or operated with safe current.

when the motor shaft is electrified and kept in a static state, the brake keeps braking, and a stop azimuth angle between the brake and the braking part is obtained;

when the first current value I1 is equal to the third current value I3, if the angle value of the stop azimuth angle is larger than the angle value of the termination included angle, the control module drives the motor shaft to rotate in the first direction by the second current value I2 for secondary clamping.

Further, when the first current value I1 is within the interval and is greater than the third current value I3, the control module drives the motor shaft to rotate with the absolute value of the difference between the first current value I1 and the third current value I3, and the motor shaft rotates in the second direction by an angle of the absolute value of the difference between the stop azimuth and the stop included angle.

Further, the driving circuit drives the motor shaft to rotate in the first direction for secondary clamping at the second current value, and the driving circuit further comprises:

wherein, beta is an initial included angle;

gamma-actuating azimuth;

delta is a preset compensation included angle.

Further, after M spikes from the first spike of the current of the motor shaft, defining that the motor shaft is in a static state;

Wherein M is an integer greater than or equal to 2;

According to the electric clamping jaw control method, an electric clamping jaw comprises a driving circuit, a motor shaft, clamping jaws and a brake, wherein the motor shaft is provided with a braking part; the motor shaft is used for driving the clamping jaw to open and close, the outer layer of the braking part is provided with a first braking surface, the brake is sleeved outside the braking part and is provided with a second braking surface which can be matched with the first braking surface; limiting rotation of the motor shaft by cooperation of the first braking surface and the second braking surface; a movable gap is arranged between the first braking surface and the second braking surface; the clamping positions of the first braking surface and the second braking surface comprise a first position and a second position, wherein the first position is defined as the relative position of the first braking surface and the second braking surface when the motor shaft rotates in a first direction to drive the brake to synchronously rotate, and the second position is defined as the relative position of the first braking surface and the second braking surface when the motor shaft rotates in a second direction to drive the brake to synchronously rotate; the second direction is opposite to the first direction; presetting a third current value I3, wherein the third current value I3 corresponds to the preset clamping force of the electric clamping jaw to the object to be clamped; defining a current value interval, wherein the boundaries of the current value interval are I3-theta and I3+ theta respectively, and theta is the minimum current when the motor shaft of the drive motor is transformed from the second position to the first position; the control method comprises the following steps: a) Driving a motor shaft to rotate in a first direction by a first current value I1, and driving a clamping jaw to primarily clamp an object to be clamped by the motor shaft; b) After primary clamping is in place, maintaining a first current value I1 to enable a motor shaft to be in a static state, and braking by a brake; c) When the first current value I1 is in the interval, the brake releases the brake, the motor shaft is driven by the second current value I2 to continuously rotate in the first direction, the second current value I2 is larger than the current value of I3+theta, the motor shaft drives the brake to pass through the first position and continuously rotate by a first compensation angle delta, the motor shaft is driven by the third current value I3 to rotate in the second direction, and when the first braking surface and the second braking surface are clamped at the second position, the brake is kept in a braking state, and the motor shaft is powered off or runs with safe current. The problem that the clamping force of the clamping jaw is unloaded and attenuated due to the fact that a brake is electrified to keep braking after the clamping jaw clamps an object to be clamped and a motor shaft is reversely rotated after power is cut off is solved; the clamping force is more stable and accurate, the clamping force requirement of an object to be clamped is met, and the situation that a workpiece is damaged or falls off due to unstable clamping force caused by attenuation of the clamping force is avoided; the phenomenon of unstable clamping caused by inconsistent attenuation of clamping force of a plurality of electric clamping jaws on the same assembly line is avoided.

Drawings

The accompanying drawings are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate and explain the application and do not limit it. In the drawings:

FIG. 1 is a schematic diagram of a state between a motor shaft and a brake according to an embodiment of the present application;

FIG. 2 is a schematic flow chart of a method for controlling an electric jaw according to an embodiment of the present application;

FIG. 3 is a schematic diagram of the angle between the motor shaft and the brake corresponding to the state change between the motor shaft and the brake according to the embodiment of the present application;

FIG. 4 is a schematic view of the structure of the motorized clasps according to an embodiment of the present application;

FIG. 5a is a graph of current and speed for a motorized jaw control method employing an embodiment of the present application;

FIG. 5b is a graph of current and speed using a high current primary clamp control method in the prior art;

fig. 5c is a current and speed graph of a prior art method of controlling a small current primary clamp.

Reference numerals illustrate:

301-an electric motor; 302-a motor shaft; 303-a brake; 304-clamping jaws; 305-a brake pad; 306-a decelerator; 307-gear.

Detailed Description

Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present application are shown in the drawings, it is to be understood that the present application may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided to provide a more thorough and complete understanding of the present application. It should be understood that the drawings and examples of the present application are for illustrative purposes only and are not intended to limit the scope of the present application.

It should be understood that the various steps recited in the method embodiments of the present application may be performed in a different order and/or performed in parallel. Furthermore, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the present application is not limited in this respect.

The term "including" and variations thereof as used herein are intended to be open-ended, i.e., including, but not limited to. The term "based on" is based at least in part on. The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments. Related definitions of other terms will be given in the description below.

It should be noted that references to "one" or "a plurality" in this application are intended to be illustrative rather than limiting, and those of ordinary skill in the art will appreciate that "one or more" is intended to be interpreted as "one or more" unless the context clearly indicates otherwise. "plurality" is understood to mean two or more.

Hereinafter, embodiments of the present application will be described in detail with reference to the accompanying drawings.

The embodiment of the invention provides a control method of an electric clamping jaw, which comprises a driving circuit, a motor shaft, a clamping jaw and a brake, wherein the motor shaft is provided with a brake part; the motor shaft is used for driving the clamping jaw to open and close, the outer layer of the braking part is provided with a first braking surface, the brake is sleeved outside the braking part and is provided with a second braking surface which can be matched with the first braking surface; limiting rotation of the motor shaft by cooperation of the first braking surface and the second braking surface; a movable gap is arranged between the first braking surface and the second braking surface; the clamping positions of the first braking surface and the second braking surface comprise a first position and a second position, wherein the first position is defined as the relative position of the first braking surface and the second braking surface when the motor shaft rotates in a first direction to drive the brake to synchronously rotate, and the second position is defined as the relative position of the first braking surface and the second braking surface when the motor shaft rotates in a second direction to drive the brake to synchronously rotate; the second direction is opposite to the first direction; presetting a third current value I3, wherein the third current value I3 corresponds to the preset clamping force of the electric clamping jaw to the object to be clamped; defining a current value interval, wherein the boundaries of the current value interval are I3-theta and I3+ theta respectively, and theta is the minimum current when the motor shaft of the drive motor is transformed from the second position to the first position;

The electric clamping jaw control method comprises the following steps:

b) After primary clamping is in place, a first current value I1 is maintained, so that a motor shaft is in a static state, and a brake brakes.

c) When the first current value I1 is in the interval, the brake releases the brake, the motor shaft is driven by the second current value I2 to continuously rotate in the first direction, the second current value I2 is larger than the current value of I3+theta, the motor shaft drives the brake to pass through the first position and continuously rotate by a first compensation angle delta, the motor shaft is driven by the third current value I3 to rotate in the second direction, and when the first braking surface and the second braking surface are clamped at the second position, the brake is kept in a braking state, and the motor shaft is powered off or runs with safe current.

Example 1

Fig. 1 is a schematic view of a state between a motor shaft and a brake in an embodiment of the present application, fig. 2 is a schematic flow chart of a method for controlling an electric clamping jaw in an embodiment of the present application, fig. 3 is a schematic view of an included angle between the motor shaft and the brake corresponding to a state change between the motor shaft and the brake in an embodiment of the present application, fig. 4 is a schematic structure of the electric clamping jaw in an embodiment of the present application, fig. 5a is a graph of current and speed of the electric clamping jaw control method in an embodiment of the present application, fig. 5b is a graph of current and speed of the electric clamping jaw control method in an embodiment of the present application, and fig. 5c is a graph of current and speed of the electric clamping jaw control method in an embodiment of the present application in a prior art, and the electric clamping jaw control method in an embodiment of the present application will be described in detail with reference to fig. 1 to 4.

The electric clamping jaw control method is used for controlling the electric clamping jaw of the mechanical arm, namely controlling the electric clamping jaw to clamp the object to be clamped.

In an exemplary embodiment, a motorized jaw includes a drive circuit, a motor shaft, a jaw, and a brake.

In an exemplary embodiment, the motor shaft has a braking portion, which is understood to be a part of the motor shaft, and the brake is sleeved on the outer layer of the braking portion when the brake is sleeved on the outer layer of the motor shaft.

In an exemplary embodiment, the detent is, for example, a region with a plurality of planes on the cylindrical motor shaft, or it can be understood that the detent is cut out on the cylindrical motor shaft.

In an exemplary embodiment, the motor shaft is used to drive the jaws open and close, i.e., the motor shaft drives the jaws open and close when the motor shaft is rotated, e.g., the jaws grip when the motor shaft is rotated in a first direction and the jaws loosen when the motor shaft is rotated in a second direction; of course, the clamping jaw does not necessarily have to completely release the object to be clamped when the motor shaft is rotated in the second direction, but may have a tendency to release the clamping.

In an exemplary embodiment, the brake outer layer has a first braking surface.

In an exemplary embodiment, the brake outer layer includes a plurality of first braking surfaces; for example, when the cross section of the braking portion is rectangular, the four sides of the braking portion are simultaneously in contact with or out of contact with the brake.

In an exemplary embodiment, the brake is sleeved outside the brake portion.

In an exemplary embodiment, the brake has a second braking surface that is engageable with the first braking surface.

In an exemplary embodiment, the brake is, for example, of annular construction, and one or more second braking surfaces are provided on the inner side of the brake, which second braking surfaces cooperate with the first braking surfaces.

In an exemplary embodiment, the brake brakes when held on and limits rotation of the motor shaft by engagement of the first braking surface and the second braking surface; of course, the brake may be selected to remain braked when de-energized as desired.

In an exemplary embodiment, a gap is provided between the first braking surface and the second braking surface.

In an exemplary embodiment, the brake portion mates with the brake, i.e., there is a gap between the brake and the brake portion, but when the brake portion rotates and the brake is not charged, the brake passively follows the brake portion rotation; and when the brake is charged, the brake also restricts the rotation of the brake portion.

In an exemplary embodiment, for example, when the cross section of the braking part is rectangular, the inner hole of the brake is rectangular matched with the brake, and when the braking part contacts with the brake, for example, four corners of the braking part contact with four sides of the inner hole of the brake simultaneously; when the brake part is out of contact with the brake, the four corners of the brake part are simultaneously out of contact with the four edges of the inner hole of the brake.

In an exemplary embodiment, the diameter of the inner bore of the brake is greater than 0.6mm of the cross-sectional diameter of the brake, and the clearance between the inner bore of the brake and the brake is 0.3mm.

In an exemplary embodiment, for example: the cross section of the brake part is rectangular with the side length of 20mm, the brake is sleeved on the outer layer of the brake part, or the brake part is arranged in an inner hole of the brake, the inner hole of the brake is rectangular with the diameter of 22mm, a gap is arranged between the inner hole of the brake and the brake part, and the gap of the adjacent side is 1mm, for example.

In an exemplary embodiment, as shown in part a of fig. 1, the brake may limit the rotation of the brake portion when the brake is held in an electrified state, thereby limiting the clamping force of the electric jaw, for example, by limiting the continued rotation of the brake portion when the brake is held in an electrified state, thereby limiting the problem of reduced clamping force when the brake portion is de-energized or the current is reduced.

In an exemplary embodiment, the snap-fit position of the first braking surface and the second braking surface includes a first position and a second position.

In an exemplary embodiment, the first position is defined as the relative position of the first braking surface and the second braking surface when the motor shaft rotates in the first direction to bring the brake into synchronous rotation, as shown in part b of fig. 1 and part b of fig. 3.

In an exemplary embodiment, the second position is defined as the relative position of the first braking surface and the second braking surface when the motor shaft rotates in the second direction to drive the brake to rotate synchronously, and the second position is also defined as the relative position of the first braking surface and the second braking surface when the motor shaft is powered off or operated with a safe current in this embodiment and the brake keeps a stop state, as shown in a part c in fig. 1 and a part a in fig. 3.

In an exemplary embodiment, the safety current is less than the rated current of the motor.

In this embodiment, first, the driving current drives the motor shaft to rotate in the first direction, when the clamping jaw clamps the object to be clamped, in order to keep the clamping jaw clamped stably, the driving current needs to be continuously maintained, and when the driving current becomes small or disappears, the motor shaft rotates in the opposite direction under the reaction force until the clamping jaw and the object to be clamped are rebalanced or the clamping jaw unclamps the object to be clamped.

In an exemplary embodiment, the second direction is opposite to the first direction, e.g., the first direction is the direction of rotation when rotating in the forward direction and the second direction is the direction of rotation when rotating in the reverse direction.

In an exemplary embodiment, a third current value I3 is preset, where the third current value I3 corresponds to a preset clamping force of the electric clamping jaw to the object to be clamped, and may be understood as a working current corresponding to the clamping force according to the clamping force required during clamping the object to be clamped, that is, the third current value I3.

In an exemplary embodiment, a current value interval is defined, and boundaries of the current value interval are respectively I3-theta and I3+ theta, that is, the current value interval is I3-theta to I3+ theta, theta is the minimum current when the motor shaft is driven to rotate from the second position to the first position, and theta is understood to be the current when the motor shaft is driven to rotate from the second position to the first position in the direction of the nearest distance, and the motor shaft is rotated by not more than 180 degrees when the motor shaft is driven to rotate from the second position to the first position.

In an exemplary embodiment, the θ value may be detected in advance by detecting the motor shaft rotation angle.

First, in step 201, a motor shaft is driven to rotate in a first direction at a first current value I1, and the motor shaft drives a clamping jaw to primarily clamp an object to be clamped.

In an exemplary embodiment, driving the motor shaft to rotate in a first direction, e.g., forward, at a first current value I1, as shown in part b of fig. 1; of course, the forward rotation is only for explanation and is not intended to limit the rotational direction of the motor shaft.

In an exemplary embodiment, the driving circuit drives the clamping jaw to initially clamp the object to be clamped at a first current value I1.

In an exemplary embodiment, the motor shaft drives the clamping jaw to initially clamp the object to be clamped with a preset first clamping force, and the first clamping force corresponds to the first current value I1.

In an exemplary embodiment, the first clamping force is less than the safe clamping force of the object to be clamped.

In an exemplary embodiment, the safe clamping force of the object to be clamped, that is, the object to be clamped cannot be clamped while being clamped.

In an exemplary embodiment, primary clamping is required to ensure that the jaws fully contact the object to be clamped and have a certain clamping force on the object to be clamped.

After the primary clamping is in place, the first current value I1 is maintained, the motor shaft is brought to a stationary state, and the brake brakes in step 202.

In an exemplary embodiment, after the primary clamping is in place, a first current value I1 is maintained; when the object to be clamped is initially clamped by the first current value I1, after the clamping jaw is contacted with the object to be clamped, the first current value I1 still keeps to drive the motor shaft, and although the motor shaft keeps the first current value I1, the clamping jaw is contacted with the object to be clamped and limited by the first current value I1, so that the motor shaft is in a static state, and the brake brakes at the moment.

In an exemplary embodiment, the brake braking, i.e. the brake maintaining the existing spatial position, does not exhibit passive rotation.

In an exemplary embodiment, the brake may be charged or powered off, and the specific braking mode may be selected as needed; here, the brake braking will be explained by taking the charged braking as an example.

In an exemplary embodiment, the motor shaft and the brake are both maintained in a state of maintaining the existing spatial position and do not rotate.

In an exemplary embodiment, the brake is held open when the brake is a power-off brake, i.e., the brake is energized, the brake pad rotates with the motor shaft, the brake pad remains closed when the brake is de-energized, and the brake pad is stationary and the motor shaft is restricted from reversing (second direction) movement when the motor shaft is de-energized or running at a safe current or current is reduced.

In an exemplary embodiment, the brake is maintained in an open state when the brake is energized, i.e., the brake is de-energized, the brake pad rotates with the motor shaft, the brake pad remains in a closed state when the brake is energized, the brake pad remains stationary, and the reverse (second direction) movement of the motor shaft is restricted when the motor shaft is de-energized or the current running or driving at a safe current is reduced.

In step 203, when the first current value I1 is within the interval, the brake releases the brake, the motor shaft is driven by the second current value I2 to continue to rotate in the first direction, the second current value I2 is greater than the current value of i3+θ, the motor shaft drives the brake to pass through the first position and continue to rotate by the first compensation angle Δ, and then the motor shaft is driven by the third current value I3 to rotate in the second direction, and when the first braking surface and the second braking surface are clamped at the second position, the brake is kept in a braking state, and the motor shaft is powered off or operated by a safe current, wherein the safe current is smaller than the rated current of the motor.

In an exemplary embodiment, when the first current value I1 is in the interval, the brake releases the brake, the motor shaft is driven to rotate in the second direction by the second current value I2, the second current value I2 is larger than the first current value I1, so that the motor shaft can continue to rotate in the first direction, the second current value I2 is larger than the current value of i3+θ, the motor shaft can drive the brake to pass through the first position and continue to rotate by the first compensation angle delta (the difference between the second current value and i3+θ), the motor shaft is driven to rotate by the third current value I3, the third current value I3 is smaller than the second current value I2, the motor shaft still has inertia rotating in the first direction due to the fact that the brake is in a follow-up state, when the motor shaft reversely rotates to the second position, the brake rotates in the first direction until the motor shaft collides, the motor shaft continues to rotate in the first direction (not exceeding 10 °), the motor shaft rotates under the action of the third current value I3, the motor shaft is clamped at the moment, the second current value is not in the second direction, the brake is in the state of no collision, and the brake is kept at the second position, and the brake is in the state, the state of the brake is kept at the second position, and the brake is in the state of the high-speed, and the brake is in the state, and the state of the brake has no collision.

In an exemplary embodiment, the brake releases the brake when the first current value I1 is within the interval, i.e., the first current value I1 is from i3—θ to i3+θ; alternatively, when the first current value I1 is within the section, the braking state of the brake is released, and the brake can passively perform the rotational operation.

In an exemplary embodiment, the drive circuit drives the motor shaft to continue to rotate in the first direction at the second current value I2.

In an exemplary embodiment, the second current value I2 is greater than the current value i3+θ.

In an exemplary embodiment, after the motor shaft drives the brake to pass through the first position and continue to rotate by the first compensation angle delta, the motor shaft is driven to rotate by the third current value I3, and because the third current value I3 is smaller than the second current value I2, the motor shaft rotates in the second direction, and when the first braking surface and the second braking surface are clamped at the second position, the brake is kept in a braking state, and the motor shaft is powered off or runs with safe current.

In an exemplary embodiment, when the first braking surface and the second braking surface are clamped at the second position, as shown in a part a in fig. 3, the brake is kept in a braking state, and the motor shaft is powered off, i.e. the motor shaft does not clamp the object to be clamped in an electrified manner.

In an exemplary embodiment, when the first current value I1 is within the interval and when the first current value I1 is equal to the third current value I3, in the brake braking state, it is determined whether the motor shaft has a tendency to deflect in the second direction when the drive current decreases, i.e., whether there is a play in the second direction between the second braking surface and the first braking surface.

In an exemplary embodiment, if the result of the determination is yes, that is, the motor shaft has a deflection tendency to rotate in the second direction when the driving current decreases, the brake releases the brake, the motor shaft is driven by the second current value I2 to continue to rotate in the first direction, the second current value I2 is greater than the current value of i3+θ, the motor shaft drives the brake to pass through the first position and continue to rotate by the first compensation angle Δ, and then the motor shaft is driven by the third current value I3 to rotate, because the third current value I3 is less than the second current value I2, the motor shaft rotates in the second direction, and when the first braking surface and the second braking surface are clamped at the first position, the brake is kept in a braking state, and the motor shaft is powered off or operates with a safe current.

In an exemplary embodiment, if the determination result is no, that is, the motor shaft does not have a deflection tendency to rotate in the second direction when the driving current decreases, that is, the state of the brake and the motor shaft at this time is shown as part c in fig. 1.

In an exemplary embodiment, when the first current value I1 is smaller than the current value of I3- θ, the brake releases the brake, the motor shaft is driven to rotate continuously in the first direction by the third current value I3, and when the first braking surface and the second braking surface are clamped at the second position, the brake is kept in a braking state, and the motor shaft is powered off or runs at a safe current.

In an exemplary embodiment, when the first current value I1 is greater than the current value i3+θ, the brake releases the brake, the motor shaft is driven to rotate by the current value i3+θ, the motor shaft rotates in the second direction, and when the first braking surface and the second braking surface are clamped at the first position, the brake is kept in a braking state, and the motor shaft is powered off or runs at a safe current.

In an exemplary embodiment, the motor shaft is driven to rotate by a current value of i3+θ, the motor shaft rotates in a second direction, when the first braking surface and the second braking surface are clamped at the first position, the brake keeps a braking state, the motor shaft is powered off or operates by a safe current, because the driving current is i3+θ, θ is the minimum current when the driving motor shaft is transformed from the second position to the first position, namely, after stopping at the first position, the motor shaft is deflected by the force of unloading, so that the first braking surface and the second braking surface are transformed from being clamped at the first position to being clamped at the second position, thereby realizing that the motor shaft is controlled to be at the position when the I3 current value is driven, and the first braking surface and the second braking surface are also clamped at the second position, namely, the motor shaft cannot deflect at the moment; for example, the motor shaft is driven to rotate by a current value of I3+θ, and the brake brakes in the state of part b in fig. 1, and the motor shaft is deflected to be converted into the state of part c in fig. 1 after power failure or operation with a safe current.

In an exemplary embodiment, when the first current value I1 is greater than the current value of i3+θ, the brake releases the brake, the motor shaft is driven to rotate by the current value of I3, and because the third current value I3 is less than i3+θ, the motor shaft rotates in the second direction, meanwhile, the brake pad of the brake rotates with the motor shaft in the second direction, when the motor shaft stops, the brake is immediately kept in a braking state, and at the moment, the first braking surface and the second braking surface are kept clamped in a second position, and the motor shaft is powered off or runs with a safe current.

In an exemplary embodiment, when the first braking surface and the second braking surface are clamped in the second position, an included angle between the first braking surface and the second braking surface is defined as a termination included angle, and an angle alpha is shown as a part a in fig. 3.

In an exemplary embodiment, the first braking surface and the second braking surface have contact points when they are snapped into the second position.

In an exemplary embodiment, the contact points include a first contact point on the first braking surface and a second contact point on the second braking surface.

In an exemplary embodiment, the first contact point is connected to the brake center point forming a contact point.

In an exemplary embodiment, the included angle formed by the perpendicular line of the second braking surface where the second contact point is located and the contact point is a termination included angle, such as the angle α shown in the portion a in fig. 3.

In an exemplary embodiment, when the first braking surface and the second braking surface are clamped at the first position, an included angle between the first braking surface and the second braking surface is defined as an initial included angle, and the angle is beta as shown in a part b in fig. 3.

In an exemplary embodiment, the angle formed by the line perpendicular to the second braking surface and the contact point is the initial angle, such as angle β shown in section b of fig. 3.

In an exemplary embodiment, after the primary clamping is in place, the first current value I1 is maintained, so that the motor shaft is in a static state, and in braking by the brake, the motor shaft is electrified and kept in a static state, and the brake is kept to brake, so that a stop azimuth angle between the brake and the braking part is obtained.

In an exemplary embodiment, the stopping azimuth angle is an angle formed by connecting a perpendicular line of the second braking surface with a contact point when the brake keeps braking and the motor shaft stops in a charged state.

In an exemplary embodiment, since it is not determined that the brake is kept braked, and the azimuth angle between the brake and the braking portion is stopped when the motor shaft is electrified, the stopping azimuth angle may be any angle between α - β, or the stopping azimuth angle is α or β.

In an exemplary embodiment, when the first current value I1 is equal to the third current value I3, if the angle value of the stopping azimuth is greater than the angle value of the terminating included angle, that is, when the motor shaft is powered off or the motor is operated at a safe current, the motor shaft is deflected in the second direction, and the driving circuit drives the motor shaft to rotate in the first direction by the second current value I2 for secondary clamping.

In an exemplary embodiment, when the first current value I1 is within the interval and is greater than the third current value I3, that is, the first current value I1 is greater than the third current value I3 and is less than the current value i3+θ, the motor shaft is driven to rotate by the absolute value of the difference between the first current value I1 and the third current value I3, and the motor shaft is rotated in the second direction by the absolute value of the difference between the stop azimuth angle and the stop included angle.

In an exemplary embodiment, in the step of driving the motor shaft to rotate in the first direction by the driving circuit with the second current value for the second clamping, the method further includes:

driving circuitThe current value corresponding to the angle value of the brake is used for driving the motor shaft and driving the brake part to rotate in a first direction, and when the brake rotates in the first direction, namely the first brake surface and the second brake surface are clamped at a first position, as shown in a part b in fig. 1, the brake part rotates to a position of gamma angle in a second direction;

Wherein, beta is the initial included angle, as shown in part b in fig. 3;

gamma-actuating azimuth;

delta is a preset compensation included angle.

In an exemplary embodiment, after the initial clamping is in place, the first current value I1 is maintained, the motor shaft is in a stationary state, the brake brakes, and the motor shaft is defined to be in a stationary state after M spikes since the first spike in current driving the motor shaft.

In an exemplary embodiment, M is an integer greater than or equal to 2.

In an exemplary embodiment, the current value spikes, indicating the occurrence of a jaw collision with the object to be clamped, and the motor shaft is stopped after M collisions.

In an exemplary embodiment, or after the initial clamping is in place, the first current value I1 is maintained to bring the motor shaft to a standstill, and the brake brakes to define that the motor shaft is in a standstill after a preset period has elapsed since the current of the drive motor shaft first spikes.

In an exemplary embodiment, the preset period may be set as desired, for example, 0.2-0.6 seconds.

In an exemplary embodiment, fig. 5a is a current graph of an electric jaw control method according to an embodiment of the present application, wherein as a brake is released, a current value of a driving circuit increases, a motor enters a constant speed state after accelerating, after a jaw bumps against an object to be clamped, a rotation speed of a motor shaft or a advancing speed of the jaw rapidly decreases, and due to a collision rebound effect, a current value rapidly increases at this time, the brake brakes after a plurality of rebounds occur, and the motor shaft stops rotating; then the brake is powered off again to release the brake, and the motor shaft rotates again to enable the clamping jaw to clamp secondarily.

In an exemplary embodiment, fig. 5b shows a technical solution of primary clamping with large current, which can be seen that the current value has too large variation amplitude in the clamping process, and different clamping forces are attenuated due to different stopping positions of the brake, so that the clamping force is unstable, and the final clamping force cannot be ensured to meet the clamping requirement.

In an exemplary embodiment, as shown in fig. 5c, for the motor shaft speed and current graph when the small current is used for clamping, it can be seen that when the small current is used for clamping at full speed, the current value fluctuates greatly at the moment of clamping, the duration of the fluctuation is longer, the rebound distance of the clamping jaw is longer, the rebound distance is longer, the clamping force of the clamping jaw is attenuated more, and the clamping time is prolonged due to the rebound time, so that the clamping efficiency is affected.

Example 2

Fig. 3 is a schematic diagram of an included angle between a motor shaft and a brake corresponding to a state change between the motor shaft and the brake in the embodiment of the present application, and fig. 4 is a schematic diagram of a structure of an electric clamping jaw in the embodiment of the present application, and the electric clamping jaw in the embodiment of the present application will be described in detail with reference to fig. 3 to 4.

The electric clamping jaw is used for clamping objects to be clamped by a mechanical arm.

In an exemplary embodiment, the motorized clasps of the embodiments of the present application are controlled using the motorized clasps control method of the embodiments described above.

In an exemplary embodiment, a motorized jaw includes: a motor 301, a drive circuit, a motor shaft 302, a jaw 304 and a brake 303.

In an exemplary embodiment, motor 301 is connected at one end to motor shaft 302.

In an exemplary embodiment, the other end of the motor 301 is connected to a decelerator 306.

In an exemplary embodiment, the reducer 306 drives the jaw 304 via a gear 307.

In an exemplary embodiment, the motorized jaw further comprises: brake pad 305.

In an exemplary embodiment, brake pads 305 are used to provide assistance to the stopping of motor shaft 302.

In an exemplary embodiment, the brake pads 305 are wrapped around the motor shaft 302.

In an exemplary embodiment, the motorized clasps further comprise a control module and an acquisition module.

In an exemplary embodiment, the motor shaft 302 has a brake.

In an exemplary embodiment, the motor shaft 302 described in the examples of the present application is powered off, and since the motor shaft 302 is connected to the motor 301, this represents that the motor 301 is powered off.

In an exemplary embodiment, motor shaft 302 is used to drive the jaws open and closed.

In an exemplary embodiment, the brake outer layer has a first braking surface.

In an exemplary embodiment, the brake 303 is sleeved outside the brake portion.

In an exemplary embodiment, the brake 303 has a second braking surface that is capable of mating with the first braking surface.

In an exemplary embodiment, the brake 303 brakes when held on and limits rotation of the motor shaft 302 by engagement of the first braking surface and the second braking surface; or it may be understood that limiting the rotation of the motor shaft 302 is accomplished by the engagement of the first braking surface with the second braking surface.

In an exemplary embodiment, the brake 303 may select to brake when energized or to remain braked when de-energized, as needed, the brake 303 in the embodiment of the present application being illustrated by way of example with respect to braking when energized; braking may be understood as a braking state.

In an exemplary embodiment, the brake portion mates with the brake 303, i.e., there is a gap between the brake 303 and the brake portion, but when the brake portion rotates and the brake 303 is not charged, the brake 303 passively follows the brake portion rotation; while the brake 303 is kept in a braked state, the brake 303 also restricts the rotation of the brake portion.

In an exemplary embodiment, for example, when the cross section of the braking portion is rectangular, the inner hole of the brake 303 is rectangular matching the brake 303, and when the braking portion contacts the brake 303, for example, four corners of the braking portion contact four sides of the inner hole of the brake 303 simultaneously; when the brake is out of contact with the brake 303, the four corners of the brake are simultaneously out of contact with the four sides of the inner bore of the brake 303.

In an exemplary embodiment, the diameter of the inner bore of the stopper 303 is greater than 0.6mm of the cross-sectional diameter of the stopper, and the clearance between the inner bore of the stopper 303 and the stopper is 0.3mm.

In an exemplary embodiment, for example: the cross section of the braking part is rectangular with the side length of 20mm, the braking part 303 is sleeved on the outer layer of the braking part, or the braking part is arranged in an inner hole of the braking part 303, the inner hole of the braking part 303 is rectangular with the diameter of 22mm, a gap is arranged between the inner hole of the braking part 303 and the braking part, and the gap of the adjacent side is 0.3mm, for example.

In an exemplary embodiment, the first position is defined as the relative position of the first braking surface and the second braking surface when the motor shaft 302 rotates in the first direction to bring the brake 303 to rotate synchronously, as shown in part b in fig. 1 and part b in fig. 3.

In an exemplary embodiment, the second position is defined as the relative position of the first braking surface and the second braking surface when the motor shaft 302 rotates in the second direction to bring the brake 303 to rotate synchronously, as shown in part c in fig. 1 and part a in fig. 3.

In an exemplary embodiment, a current value interval is defined, where the boundaries of the current value interval are I3- θ and i3+θ, respectively, i.e., the current value interval is I3- θ to i3+θ, where θ is the minimum current when the motor shaft 302 is driven to rotate from the second position to the first position, and θ is understood to be the current when the motor shaft 302 is driven to rotate from the second position to the first position in the direction of the closest distance, and the motor shaft 302 rotates no more than one revolution when the position is changed.

In an exemplary embodiment, the control module drives the motor shaft 302 to rotate in a first direction at a first current value I1, and the motor shaft 302 drives the clamping jaw to initially clamp the object to be clamped.

In an exemplary embodiment, the motor shaft 302 is driven to rotate in a first direction, e.g., forward, at a first current value I1, as shown in part b of fig. 1; of course, the forward rotation herein is for illustration only and is not intended to limit the direction of rotation of the motor shaft 302.

In an exemplary embodiment, the control module drives the clamping jaw to initially clamp the object to be clamped at a first current value I1 by controlling the driving circuit.

In an exemplary embodiment, the control module drives the clamping jaw to primarily clamp the object to be clamped with a preset first clamping force by controlling the driving circuit, and the first clamping force corresponds to the first current value I1.

In an exemplary embodiment, the control module further comprises: after the primary clamping is in place, the first current value I1 is maintained, the motor shaft 302 is brought to a stationary state, and the brake 303 brakes.

In an exemplary embodiment, when the first current value I1 is within the interval, the brake 303 releases the brake, the control module drives the motor shaft 302 to rotate in the first direction with the second current value I2, the second current value I2 is greater than the current value of i3+θ, after the motor shaft 302 drives the brake 303 to pass through the first position and continue to rotate by the first compensation angle Δ, the control module drives the motor shaft 302 to rotate with the third current value I3, the motor shaft 302 rotates in the second direction, and when the first braking surface and the second braking surface are clamped at the second position, the control module keeps the brake 303 in a braking state, and the motor shaft 302 is powered off or operates with a safe current.

In an exemplary embodiment, the safety current is less than the rated current of the motor 301.

In an exemplary embodiment, when the first braking surface and the second braking surface are clamped at the second position, as shown in a part a of fig. 3, the brake 303 is kept in a braking state, and the motor shaft 302 is powered off, that is, the motor shaft 302 does not clamp the object to be clamped in a charging manner.

In an exemplary embodiment, when the first current value I1 is within the interval and when the first current value I1 is equal to the third current value I3, it is determined whether the motor shaft 302 has a deflection tendency to rotate in the second direction when the driving current decreases.

In an exemplary embodiment, the determination of whether the motor shaft 302 has a tendency to deflect in the second direction when the driving current decreases may be determined by the determination module, or the information may be obtained by the obtaining module.

In an exemplary embodiment, if the result of the determination is yes, that is, if the motor shaft 302 has a deflection tendency to rotate in the second direction when the driving current decreases, the brake 303 is released, the control module drives the motor shaft 302 to continue to rotate in the first direction with the second current value I2, the second current value I2 is greater than the current value of i3+θ, and after the motor shaft 302 drives the brake 303 to pass through the first position and continue to rotate by the first compensation angle Δ, the control module drives the motor shaft 302 to rotate with the third current value I3, the motor shaft 302 rotates in the second direction, and when the first braking surface and the second braking surface are clamped at the first position, the control module keeps the brake 303 in a braking state, and the motor shaft 302 is powered off or operates with a safe current.

In an exemplary embodiment, if the determination is negative, the control module controls the motor shaft 302 to power off or operate at a safe current; i.e. the motor shaft 302 does not have a tendency to rotate in the second direction when the drive current decreases, i.e. the state of the brake 303 and the motor shaft 302 at this time is shown as part c in fig. 1.

In an exemplary embodiment, when the first current value I1 is less than the current value of I3- θ, the brake 303 releases the brake, the control module drives the motor shaft 302 to continue rotating in the first direction with the third current value I3, and when the first braking surface and the second braking surface are clamped in the second position, the control module keeps the brake 303 in a braking state, and the motor shaft 302 is powered off or operated with a safe current.

In an exemplary embodiment, when the first current value I1 is greater than the current value of i3+θ, the brake 303 releases the brake, the control module drives the motor shaft 302 to rotate with the current value of i3+θ, the motor shaft 302 rotates in the second direction, and when the first braking surface and the second braking surface are clamped in the first position, the control module keeps the brake 303 in a braking state, and the motor shaft 302 is powered off or operates with a safe current.

In an exemplary embodiment, the control module drives the motor shaft 302 to rotate with a current value of i3+θ, the motor shaft 302 rotates in a second direction, when the first braking surface and the second braking surface are clamped at the first position, the control module keeps the brake 303 in a braking state, and the motor shaft 302 is powered off or operates with safe current, because the driving current is i3+θ, θ is the minimum current when the motor shaft 302 is switched from the second position to the first position, i.e. after stopping at the first position, the motor shaft 302 is subjected to force-releasing deflection, so that the first braking surface and the second braking surface are switched from being clamped at the first position to being clamped at the second position, thereby realizing that the motor shaft 302 is controlled to be in the position when the I3 current value is driven, and the first braking surface and the second braking surface are also clamped at the second position, i.e. the motor shaft 302 cannot deflect at the moment; for example, the motor shaft 302 is driven to rotate at a current value of i3+θ, and the brake 303 brakes in the state of part b in fig. 1, and the motor shaft 302 is turned off or is deflected to be converted into the state of part c in fig. 1 after running at a safe current.

In an exemplary embodiment, when the first current value I1 is greater than the current value i3+θ, the brake 303 releases the brake, the motor shaft 302 is driven to rotate with the current value I3, the motor shaft 302 rotates in the second direction, and when the motor shaft 302 stops, the control module immediately maintains the brake 303 in a braked state, and the motor shaft 302 is powered off or operated with a safe current.

In an exemplary embodiment, after the primary clamping is in place, the control module maintains the first current value I1, so that the motor shaft 302 is in a static state, and during braking of the brake 303, the motor shaft 302 is kept in a static state with electricity, the brake 303 is kept braked, and a stopping azimuth angle between the brake 303 and the braking part is obtained.

In an exemplary embodiment, the stopping azimuth angle between the brake 303 and the brake part may be acquired by the acquisition module.

In an exemplary embodiment, the stopping azimuth angle is an angle formed by the perpendicular line of the second braking surface and the contact point connecting line when the brake 303 keeps braking and the motor shaft 302 stops in a charged state.

In an exemplary embodiment, since it is not certain that the brake 303 is kept braked, the azimuth angle between the brake 303 and the braking portion when the motor shaft 302 is stopped with electricity, the stopping azimuth angle may be any angle between α - β, or the stopping azimuth angle is α or β.

In an exemplary embodiment, when the first current value I1 is equal to the third current value I3, if the angle value of the stopping azimuth is greater than the angle value of the ending included angle, that is, when the motor shaft 302 is powered off or the motor shaft 302 may deflect in the second direction when running at the safe current, the control module controls the driving circuit to drive the motor shaft 302 to rotate in the first direction for secondary clamping at the second current value I2.

In an exemplary embodiment, when the first current value I1 is within the interval and is greater than the third current value I3, that is, the first current value I1 is greater than the third current value I3 and is less than the current value i3+θ, the control module drives the motor shaft 302 to rotate with an absolute value of a difference between the first current value I1 and the third current value I3, and the motor shaft 302 rotates in the second direction by an absolute value of a difference between the stopping azimuth angle and the stopping included angle.

In an exemplary embodiment, the control module controls the driving circuit to drive the motor shaft 302 to rotate in the first direction for secondary clamping at the second current value, further comprising:

driving circuitThe current value corresponding to the angle value drives the motor shaft 302 and drives the brake part to rotate in a first direction, and when the brake 303 rotates in the first direction, the brake part rotates to a position of gamma angle in a second direction;

Wherein, beta is the initial included angle, as shown in part b in fig. 3;

gamma-actuating azimuth;

delta is a preset compensation included angle.

In an exemplary embodiment, optionally, when the braking portion rotates in a unit angle, the clamping force of the clamping jaw when clamping the object to be clamped may be obtained in advance, or may be obtained by the obtaining module; for example, the clamping force of the clamping jaw to the object to be clamped is obtained when the clamping jaw rotates for one circle.

In an exemplary embodiment, after the initial clamping is in place, the control module maintains the first current value I1 to bring the motor shaft 302 to a standstill, and the brake 303 brakes to define that the motor shaft 302 is in a standstill after M spikes since the first spike in current driving the motor shaft 302.

In an exemplary embodiment, the current condition of the motor shaft 302 may be obtained by an obtaining module, such as obtaining a number of spikes in the current, and so forth.

In an exemplary embodiment, M is an integer greater than or equal to 2.

In an exemplary embodiment, the current value spikes, indicating the occurrence of a jaw collision with the object to be clamped, stopping the motor shaft 302 after M collisions.

In an exemplary embodiment, or after the initial clamping is in place, the first current value I1 is maintained to keep the motor shaft 302 at rest, the brake 303 brakes, and the motor shaft 302 is defined to be at rest after a preset period has elapsed since the current driving the motor shaft 302 first spikes.

Although the embodiments of the present invention are described above, the present invention is not limited to the embodiments which are used for understanding the present invention. Any person skilled in the art can make any modification and variation in form and detail without departing from the spirit and scope of the present disclosure, but the scope of the present disclosure is to be determined by the appended claims.

Claims

1. An electric clamping jaw control method is characterized in that the electric clamping jaw comprises a driving circuit, a motor shaft, clamping jaws and a brake, wherein the motor shaft is provided with a braking part; the motor shaft is used for driving the clamping jaw to open and close, the outer layer of the braking part is provided with a first braking surface, the brake is sleeved outside the braking part, and the brake is provided with a second braking surface which can be matched with the first braking surface; limiting rotation of the motor shaft by engagement of the first braking surface and the second braking surface; a movable gap is arranged between the first braking surface and the second braking surface; the clamping positions of the first braking surface and the second braking surface comprise a first position and a second position, wherein the first position is defined as the relative position of the first braking surface and the second braking surface when a motor shaft rotates in a first direction to drive the brake to synchronously rotate, and the second position is defined as the relative position of the first braking surface and the second braking surface when the motor shaft rotates in a second direction to drive the brake to synchronously rotate; the second direction is opposite to the first direction; presetting a third current value I3, wherein the third current value I3 corresponds to a preset clamping force of the electric clamping jaw on an object to be clamped; defining a current value interval, wherein the boundaries of the current value interval are I3-theta and I3+ theta respectively, and theta is the minimum current when the drive motor shaft is transformed from the second position to the first position;

The control method comprises the following steps:

a) Driving the motor shaft to rotate in the first direction by a first current value I1, wherein the motor shaft drives the clamping jaw to primarily clamp an object to be clamped;

b) After primary clamping is in place, maintaining the first current value I1 to enable the motor shaft to be in a static state, and braking the brake;

c) When the first current value I1 is in the interval, the brake releases braking, the motor shaft is driven to continuously rotate in the first direction by a second current value I2, the second current value I2 is larger than the current value of I3+theta, the motor shaft drives the brake to pass through the first position and continuously rotate by a first compensation angle delta, the motor shaft is driven to rotate by a third current value I3, the motor shaft rotates in the second direction, and when the first braking surface and the second braking surface are clamped at the second position, the brake is kept in a braking state, the motor shaft is powered off or runs by a safe current, and the safe current is smaller than the rated current of the motor;

when the first current value I1 is smaller than the current value of I3-theta, the brake releases braking, the motor shaft is driven to rotate continuously in the first direction by the third current value I3, and when the first braking surface and the second braking surface are clamped at the second position, the brake is kept in a braking state, and the motor shaft is powered off or runs with the safe current.

2. The electric jaw control method according to claim 1, wherein when the first current value I1 is greater than the current value i3+θ, the brake releases braking, the motor shaft is driven to rotate with the current value i3+θ, the motor shaft rotates in the second direction, and when the first braking surface and the second braking surface are engaged in the first position, the brake is kept in a braking state, and the motor shaft is powered off or operated with the safety current.

3. The electric jaw control method according to claim 1, wherein when the first current value I1 is greater than the current value i3+θ, the brake releases braking, the motor shaft is driven to rotate at the third current value I3, the motor shaft rotates in the second direction, the brake is kept in a braked state when the motor shaft stops, and the motor shaft is powered off or operated at the safety current.

4. The electric jaw control method according to claim 1, wherein when the first current value I1 and the third current value I3 are equal, it is determined whether the motor shaft has a tendency to deflect in the second direction when the drive current decreases;

If so, the brake releases the brake, the motor shaft is driven to continuously rotate in the first direction by the second current value I2, the second current value I2 is larger than the current value of I3+θ, the motor shaft drives the brake to pass through the first position and continuously rotate by a first compensation angle delta, the motor shaft is driven to rotate by the third current value I3, the motor shaft rotates in the second direction, and when the first braking surface and the second braking surface are clamped at the first position, the brake is kept in a braking state, and the motor shaft is powered off or runs by the safety current;

if not, the motor shaft is powered off or the motor is operated with safe current.

5. The method of claim 1, wherein when the first braking surface and the second braking surface are engaged in the second position, an included angle between the first braking surface and the second braking surface is a termination included angle;

the first braking surface and the second braking surface are clamped at the second position, and have contact points;

The first contact point and the center point of the braking part form a contact point connecting line, and an included angle formed by a perpendicular line of a second braking surface where the second contact point is positioned and the contact point connecting line is the termination included angle;

when the first braking surface and the second braking surface are clamped at the first position, an included angle between the first braking surface and the second braking surface is an initial included angle;

an included angle formed by connecting the perpendicular line of the second braking surface with the contact point is the initial included angle;

in the step b), the motor shaft is electrified and kept in a static state, the brake is kept braked, and a stop azimuth angle between the brake and the brake part is acquired;

the stopping azimuth angle is an included angle formed by connecting a perpendicular line of the second braking surface with the contact point when the motor shaft is electrified to stop and the brake keeps a braking state;

when the first current value I1 is equal to the third current value I3, if the angle value of the stop azimuth is larger than the angle value of the termination included angle, the driving circuit drives the motor shaft to rotate in the first direction by the second current value I2 for secondary clamping.

6. The electric jaw control method according to claim 5, wherein when the first current value I1 is within the interval and is greater than the third current value I3, the motor shaft is driven to rotate with an absolute value of a difference between the first current value I1 and the third current value I3, the motor shaft is rotated in the second direction, and the rotation angle is an absolute value of a difference between the stop azimuth angle and the termination included angle.

7. The electric jaw control method according to claim 5, wherein in the step of driving the motor shaft at the second current value by the drive circuit to rotate in the first direction for secondary clamping, further comprising:

the driving circuit is used for drivingThe current value corresponding to the angle value drives a motor shaft and drives the brake part to rotate in the first direction, and when the brake rotates in the first direction, the brake part rotates to a gamma angle position in the second direction;

wherein, beta is an initial included angle;

gamma-actuating azimuth;

delta is a preset compensation included angle.

8. The electric jaw control method according to claim 7, wherein in the step of driving the motor shaft at the second current value by the drive circuit to rotate in the first direction for secondary clamping, further comprising:

Acquiring the clamping force of the clamping jaw when clamping an object to be clamped when the braking part rotates at a unit angle;

according to the describedAnd calculating the corresponding clamping force during the secondary clamping.

9. The method of controlling an electric jaw according to claim 1, wherein in said step b), said motor shaft is defined to be in a stationary state after M spikes since a first spike in current driving said motor shaft;

wherein M is an integer greater than or equal to 2;

or after a preset period from the first peak of the current driving the motor shaft, defining that the motor shaft is in a static state.

10. An electrically powered jaw, comprising: the device comprises a control module, a driving circuit, a motor shaft, clamping jaws and a brake;

the motor shaft is provided with a braking part;

the motor shaft is used for driving the clamping jaw to open and close, the outer layer of the braking part is provided with a first braking surface, the brake is sleeved outside the braking part, and the brake is provided with a second braking surface which can be matched with the first braking surface;

limiting rotation of the motor shaft by engagement of the first braking surface and the second braking surface;

A movable gap is arranged between the first braking surface and the second braking surface; the clamping positions of the first braking surface and the second braking surface comprise a first position and a second position, wherein the first position is defined as the relative position of the first braking surface and the second braking surface when a motor shaft rotates in a first direction to drive the brake to synchronously rotate, and the second position is defined as the relative position of the first braking surface and the second braking surface when the motor shaft rotates in a second direction to drive the brake to synchronously rotate;

the second direction is opposite to the first direction;

presetting a third current value I3, wherein the third current value I3 corresponds to a preset clamping force of the electric clamping jaw on an object to be clamped;

defining a section, wherein the boundaries of the section are I3-theta and I3+ theta respectively, and theta is the minimum current when the motor shaft is driven to be changed from the second position to the first position;

the control module drives the motor shaft to rotate in the first direction by a first current value I1, and the motor shaft drives the clamping jaw to primarily clamp the object to be clamped;

the control module further comprises:

after the primary clamping is in place, the control module maintains the first current value I1 to enable the motor shaft to be in a static state, and the brake brakes;

When the first current value I1 is in the interval, the brake releases braking, the control module drives the motor shaft to continuously rotate in the first direction by a second current value I2, the second current value I2 is larger than the current value of I3+theta, the motor shaft drives the brake to pass through the first position and continuously rotate by a first compensation angle delta, the control module drives the motor shaft to rotate by a third current value I3, the motor shaft rotates in the second direction, and when the first braking surface and the second braking surface are clamped in the second position, the control module enables the brake to keep a braking state, the motor shaft is powered off or operates by a safe current, and the safe current is smaller than the rated current of the motor;

when the first current value I1 is smaller than the current value of I3-theta, the brake releases braking, the control module drives the motor shaft to rotate continuously in the first direction with the third current value I3, and when the first braking surface and the second braking surface are clamped at the second position, the control module enables the brake to keep a braking state, and the motor shaft is powered off or runs with the safe current.

11. The motorized clasping jaw of claim 10, wherein when the first current value I1 is greater than the current value i3+θ, the brake releases braking, the control module drives the motor shaft to rotate at the current value i3+θ, the motor shaft rotates in the second direction, and when the first braking surface and the second braking surface are engaged in the first position, the control module maintains the brake in a braked state, and the motor shaft is de-energized or operated at the safety current.

12. The motorised jaw of claim 10, wherein when the first current value I1 is greater than the i3+θ current value, the brake releases braking, the control module drives the motor shaft to rotate at the I3 current value, the motor shaft rotates in the second direction, and when the motor shaft stops, the control module maintains the brake in a braked state, the motor shaft is de-energized or operated at the safety current.

13. The motorized clasping jaw according to claim 10, wherein when the first current value I1 and the third current value I3 are equal, it is determined whether the motor shaft has a tendency to deflect in rotation in the second direction when the drive current decreases;

If the brake releases the brake, the control module drives the motor shaft to rotate continuously in the first direction by the second current value I2, the second current value I2 is larger than the current value of I3+θ, the motor shaft drives the brake to pass through the first position and continuously rotate by a first compensation angle delta, the control module drives the motor shaft to rotate by the third current value I3, the motor shaft rotates in the second direction, and when the first braking surface and the second braking surface are clamped at the first position, the control module enables the brake to keep a braking state, and the motor shaft is powered off or runs by the safety current;

if not, the motor shaft is powered off or runs with the safe current.

14. The motorized clasping jaw of claim 10, wherein when the first braking surface and the second braking surface are engaged in the second position, the included angle between the first braking surface and the second braking surface is a termination included angle;

the motor shaft is electrified and kept in a static state, the brake is kept braked, and a stop azimuth angle between the brake and the brake part is obtained;

15. The motorised jaw of claim 14, wherein when the first current value I1 is within the interval and greater than the third current value I3, the control module drives the motor shaft to rotate with an absolute value of a difference between the first current value I1 and the third current value I3, the motor shaft rotates with the second direction, the angle of rotation being an absolute value of a difference between the stopping azimuth angle and the terminating angle.

16. The motorized clasping jaw of claim 14, wherein the drive circuit drives the motor shaft at the second current value to rotate in the first direction for secondary clasping, further comprising:

wherein, beta is an initial included angle;

gamma-actuating azimuth;

delta is a preset compensation included angle.

17. The motorized clasping jaw of claim 16, wherein the drive circuit drives the motor shaft at the second current value to rotate in the first direction for secondary clasping, further comprising:

18. The motorised jaw of claim 10, wherein the motor shaft is defined to be stationary after M spikes since a first spike in current driving the motor shaft;

Wherein M is an integer greater than or equal to 2;