KR101734884B1 - Driver circuit for electric gripper and driving method thereof - Google Patents

Driver circuit for electric gripper and driving method thereof Download PDF

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Publication number
KR101734884B1
KR101734884B1 KR1020160008028A KR20160008028A KR101734884B1 KR 101734884 B1 KR101734884 B1 KR 101734884B1 KR 1020160008028 A KR1020160008028 A KR 1020160008028A KR 20160008028 A KR20160008028 A KR 20160008028A KR 101734884 B1 KR101734884 B1 KR 101734884B1
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KR
South Korea
Prior art keywords
electric gripper
operation command
command
output
logic unit
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Application number
KR1020160008028A
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Korean (ko)
Inventor
첸-밍 옹
웨이-샤오 첸
Original Assignee
하이윈 테크놀로지스 코포레이션
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Priority to KR1020160008028A priority Critical patent/KR101734884B1/en
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Publication of KR101734884B1 publication Critical patent/KR101734884B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

A driving method of the present invention is a driving method used in a driving circuit of an electric gripper, comprising the steps of: providing a state signal generated according to an operating state of the electric gripper; Then, when the state signal corresponds to the idle state, receiving the operation command and the feedback signal that detects the operation of the electric gripper; Finally, when the operation instruction and the operation of the electric gripper corresponding to the feedback signal are inconsistent, outputting the operation instruction. Therefore, the driving method of the present invention commands the electric gripper to execute an operation command without separately providing a trigger signal.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a drive circuit of an electric gripper,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a driving technique of an electric gripper, and more particularly, to a driving device and a driving method of an electric gripper in which an electric gripper does not have to send a trigger signal to execute a new operation command.

As the industrial automation develops, the application and demand of the electric gripper increases more and more, and the driving method of the conventional electric gripper is performed by the driving device in order to receive the operation command preset or inputted by the user, , The driving device outputs an operation command to the electric gripper to change the operation direction of the electric gripper only when the driving device receives the trigger signal.

However, this method not only complicates the circuit wiring of the drive apparatus, but also easily causes malfunction of the electric gripper. For example, the electric gripper may additionally receive a new motion command in the course of operation, or perform an open or close motion when the electric gripper is already in the open or closed state.

SUMMARY OF THE INVENTION It is an object of the present invention to provide an electric gripper which is capable of detecting an idle state of an electric gripper, There is provided a driving circuit for an electric gripper and a driving method thereof, which does not need to inform the electric gripper to execute an operation command by a trigger command, which controls the electric gripper to perform a new operation by checking whether the operation state of the electric gripper is different will be. Therefore, the drive circuit does not need to be provided with the trigger circuit of the electric gripper.

In order to achieve the above object, the driving method of the present invention is used in a drive circuit of an electric gripper. The driving method includes: first, providing a status signal generated according to an operating state of the electric gripper; When the state signal corresponds to the idle state, receiving a feedback signal that detects an operation command and an operation of the electric gripper; Finally, when the operation instruction and the operation of the electric gripper corresponding to the feedback signal are inconsistent, outputting the operation instruction.

In order to achieve the above object, the electric power gripper drive apparatus of the present invention includes a logic unit and a processing unit. The logic unit includes a state detection terminal, an instruction input terminal, a feedback terminal, and a logic output terminal. The state detection stage generates a state signal according to the operating state of the electric gripper. The command input terminal receives the operation command. The operation command drives the electric gripper to perform an operation. The processing unit includes two input terminals and one output terminal. The two input terminals of the processing unit are connected to the command input terminal and the logic output terminal of the logic unit, respectively. The output of the processing unit is connected to the feedback of the logic unit. The feedback unit of the logic unit generates a feedback signal according to the operation of the electric gripper. If the logic unit corresponds to the idle state of the electric gripper when the logic unit judges that the operation of the electric gripper corresponding to the operation command is inconsistent, the processing unit outputs an operation command.

The detailed description of the following embodiments will be provided in connection with the structure, steps, features, or operating methods of the drive circuit and the drive method of the electric gripper provided in the present invention. However, it will be understood by those skilled in the art that the specific embodiments enumerated for the detailed description and implementation of the invention are merely illustrative of the invention and are not intended to limit the scope of the invention It is not intended for.

The driving circuit and the driving method of the electric gripper of the present invention do not need to set the circuit and logic related to the trigger signal.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing the configuration of an electric gripper and a drive circuit of the present invention; FIG.
Fig. 2 is a block diagram of the configuration of an electric gripper, a flip-flop, and a drive circuit of the present invention.
3 is a block diagram showing the configuration of a timer of the driving circuit shown in Fig.
4 is a timing chart of voltage levels of a status signal, an operation command, and a feedback signal of the driving circuit of the present invention.
5 is a flowchart of a driving method of a driving circuit of the electric gripper of the present invention.

Hereinafter, the driving circuit of the electric gripper of the present invention and the constituent members of the driving method, the executing step and the effect of achieving the present invention will be described by taking the preferred embodiments corresponding to the respective drawings together. In each drawing, the driving circuit of the electric gripper and the absence of the driving method thereof, the sequence of the steps and the appearance are only for explaining technical features of the present invention, and are not for limiting the constitution of the present invention.

1, the driving apparatus 10 of the electric gripper 20 of the present invention includes a logic unit 11 and a processing unit 13. [ In this embodiment, the processing unit 13 includes a timer 15 and a flip-flop 17.

The logic unit 11 includes a state detection stage 111, an instruction input terminal 112, a feedback stage 113 and a logic output stage 114. [ The state detection stage 111 generates the state signal S S in accordance with the operation state of the electric gripper 20 and the state detection stage 111 is actually connected to the electric gripper 20 via the flip- 20 to generate the state signal S S , but the state signal S S is further generated by another method, and is not limited to that described with reference to FIG. 2 because it is a common sense in the industry. The operating state of the electric gripper 20 includes an operating state and an idle state and the operating state means that the electric gripper 20 is performing an operation planned by the operation command, ) Is not operating or the operation command has already been executed. The command input terminal 112 receives the operation command S N and the operation command S N is an operation previously planned by the drive device 10 or input to the drive device 10 by the operator, To execute an operation.

Referring to FIG. 1, the timer 15 includes an input stage and an output stage. The input of the timer 15 is connected to the logic output 114 of the logic unit 11.

The flip flop 17 includes two input terminals and one command output terminal 171. The two input terminals of the flip flop 17 are connected to the command input terminal 112 of the logic unit 11 and the output terminal of the timer 15, respectively. The command output terminal 171 of the flip flop 17 is connected to the feedback terminal 113 of the logic unit 11 and the feedback terminal 113 of the logic unit 11 is connected to the feedback signal 113 according to the operation of the electric gripper 20. [ (S C ).

When the state signal S S corresponds to the idle state of the electric gripper 20, the operation of the electric gripper 20 corresponding to the feedback signal Sc and the operation command S N And the comparison and determination as to whether or not the operation corresponding to the feedback signal S C and the operation corresponding to the operation command S N coincide with each other are interpreted through the following description. The feedback signal S C indicates that the operation of the electric gripper 20 is open (closed), and when the operation of the electric gripper 20 corresponding to the operation command S N is closed (opened) Conversely, if the operation of the electric gripper 20 corresponding to the feedback signal S C and the operation command S N is both open or closed, it matches the motion coincidence judgment.

The logical unit 11 does not trigger the timer 15 and the flip-flop 17 of the processing unit 13. [ In other words, the processing unit 13 does not output the operation command S o .

The logical output terminal 114 of the logic unit 11 outputs a timing trigger signal S T to the timer 15 to cause the timer 15 to start timing, At the timing time, the timer 15 triggers the flip-flop 17 to cause the flip-flop 17 to receive a new operation instruction S N transmitted by the instruction input 112, and a new operation instruction S O to the command output terminal 171, and the electric gripper 20 changes the operation direction according to the new operation command S o .

In this embodiment, the logic unit 11 includes an AND gate 115 and an XOR gate 116. [ The output terminal of the AND gate 115 is the logic output terminal 114 of the logic unit 11. The input of the AND gate 115 is connected to the output of the XOR gate 116. AND and one of the input terminal is a logic unit 11, the state detection end 111 of the gate 115, in this embodiment, AND other of the input terminals, the levels for a status signal (S S) of the gate 115 The other input terminal of the AND gate 115 is not limited to the one including the flip-flop, since there is another flip-flop for proceeding the inversion process but the flip-flop can be omitted if the logic judgment method is substantially changed. The two input terminals of the XOR gate 116 are the command input terminal 112 and the feedback terminal 113 of the logic unit 11 respectively and are connected to the electric gripper 20 (corresponding to the feedback signal S C and the operation command S N ) ) Are coincident with each other.

The logic unit 11 of the present embodiment takes as an example the combination of the AND gate 115 and the XOR gate 116 but actually the logic unit 11 has more logic elements (OR gate, AND gate, NAND gate, XOR Gate, etc.), the logic unit 11 is not limited to that described in this embodiment.

3, the timer 15 includes an AND gate 151, a timing element 152, a comparison element 153, a periodic temporary storage element 154, a first latch 155 and a second latch 156). The AND gate 151 of the timer 15 receives the timing trigger signal output by the logic unit 11 and triggers the timing element 152 to cause the timing element 152 to start the cumulative timing, Element 152 may be viewed as a resistor. Subsequently, the comparison element 153 compares the accumulation value accumulated by the timing element 152 with a predetermined value stored in the cyclic temporary storage element 154, and when the accumulated value is equal to the predetermined value, 153 outputs a signal and reports it to the first latch 155 and the second latch 156 and the first latch 155 then resets the value of the timing unit so that the cumulative value of the timing element 152 is set to 0 And the second latch 156 triggers the flip-flop 17. The device described in this embodiment may be composed of a plurality of logic elements or a plurality of active and driven elements, and may be implemented by a software method. However, since these techniques are well known in the art, descriptions thereof will be omitted.

The driving apparatus of the electric gripper of the present invention can determine the state of the electric gripper by the logic unit and can determine whether to output a new operation command according to the current state of the electric gripper, The device does not need to drive the electric gripper through separate trigger circuit (logic) signals and timing planning logic.

Also, the timer of the processing unit may be regarded as a filter because the timer of the processing unit delays the output of the new operation command to prevent an operation error due to the noise generated in the process of switching the two operation commands by the electric gripper. In addition, the processing unit may be one flip-flop without the noise at the time of switching two operations, and the timer (filter) may be omitted, so that the logic unit directly triggers the flip-flop of the processing unit and outputs the operation command. Therefore, the processing unit is not limited to that described in the present embodiment, and may be constituted by other elements that can be triggered and output by the logic unit.

Assuming that the voltage level is assumed as the state signal S S , the feedback signal S C and the operation command S N as shown in FIG. 4, for example, when the electric gripper is in the idle state, S S corresponds to the low level and the state signal S S corresponds to the high level when the electric gripper is not in the idle state and the instruction for opening the electric gripper is the high level And the command to close the electric gripper is low level. In the present embodiment, when the state signal S S is at a low level, it is determined that the electric gripper corresponds to the idle state. On the contrary, when the state signal S S is at the high level, .

To the status signal (S S) of the motor-driven gripper corresponds to the low level (idle state), and the logic unit receives the operation command (S N) (low level) to close the electric gripper, the operation command (S N) is If the feedback signal S C (high level) indicates that the electric gripper is in the open state, the operation corresponding to the operation command S N and the feedback signal Sc are inconsistent , The logic unit triggers the processing unit to delay the output of the operation command. Accordingly, when the feedback signal Sc changes from a high level to a low level and the electric gripper is changing its direction, the state signal S S changes from a low level to a high level, The signal S S returns to the idle state.

4, the state signal S S , the feedback signal S C , and the operation command S N further include three different timings, and a detailed description thereof will be described later. When the state signal of the electric gripper corresponds to a low level (idle state), the logic unit receives an operation command (high level) for opening the electric gripper and a feedback signal (low level) corresponding to the electric gripper is closed, If the operation command and the operation corresponding to the feedback signal are inconsistent, the logic unit triggers the processing unit to delay the output of the operation command.

When the state signal of the electric gripper corresponds to a low level (idle state), the logic unit receives an operation command (high level) for opening the electric gripper and a feedback signal (high level) corresponding to opening of the electric gripper, Since the logic unit does not trigger the processing unit, the processing unit does not output the operation command.

Further, the state signal S S of the electric gripper corresponds to a low level (idle state), and the logic unit outputs an operation command (low level) for closing the electric gripper and a feedback signal ), The logic unit does not trigger the processing unit, so the processing unit does not output the operation command.

In this embodiment, the logic unit mainly triggers the processing unit to output an operation command only when the electric gripper is idle, and the operation of the electric gripper corresponding to the feedback signal and the operation command is opposite to each other. Therefore, the logic unit may be composed of other logic elements, and the number of logic elements is not limited to that described in this embodiment, and the voltage level judgment logic for the signals and commands of the logic unit may be limited to those described in this embodiment It does not.

As shown in Fig. 5, the driving method of the electric gripper of the present invention includes the following steps.

First, the step (S31) of providing a status signal generated according to the operation state of the electric gripper is executed; Subsequently, the step S32 of judging whether or not the state signal corresponds to the idle state is executed. If the result is NO, it means that the electric gripper is in motion, that is, the electric gripper is executing the previous motion command, And does not output a new operation command to the electric gripper because it executes the end step. Here, the description of the state signal generation technique in step S31 is well known in the art, and thus description thereof will be omitted.

If Yes, it means that the electric gripper corresponds to the idle state or does not move, and executes the step of receiving the operation command and the feedback signal that detects the operation of the electric gripper (S33). Here, the feedback signal that detects the electric gripper can be detected continuously or only when there is a new operation command.

The feedback signal is related to the operating state of the electric gripper. Here, the operation command includes an open operation and a close operation of the electric gripper. The feedback signal is a feedback of the direction of operation of the electric gripper, and there are two directions of operation of the electric gripper, both of which are related to the opening and closing operations of the electric gripper.

Subsequently, the step (S34) of comparing the operation command with the feedback signal is executed, and the step (S35) of judging whether or not the operation of the electric gripper corresponding to the operation command and the feedback signal is coincident is executed The operation instruction and the operation of the electric gripper corresponding to the feedback signal both correspond to the opening or closing operation, the operation inconsistency indicates that the operation of the electric gripper corresponding to the operation command and the feedback signal is different, However, this indicates that the degree is different. For example, the feedback signal indicates opening of the electric gripper, and the motion command also causes the electric gripper to open, but indicates that the degree of opening is greater than the degree corresponding to the feedback signal.

It means that the operation direction of the electric gripper corresponding to the feedback signal is the same as the operation direction of the electric gripper corresponding to the new operation command. For example, if the new operation command indicates that the electric gripper is open (or closed) And if the feedback signal indicates that the current operation of the electric gripper is also an open (or closed) operation, the end step is continuously executed and the operation command is not output.

It means that the operation direction of the electric gripper corresponding to the feedback signal and the operation command of the electric gripper corresponding to the new operation command are opposite to each other. For example, when the new operation command is an open (or closed) , And if the feedback signal indicates that the current operation of the electric gripper is closed (or open), then delay the time and output the action command to the electric gripper so that the electric gripper changes the direction of movement S36).

Finally, it should be emphasized again that the components disclosed in the above-described embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of the present application, It is claimed.

10: Driving device
11: Logical unit
111: Status detection stage
112: Command input
113: feedback stage
114: Logic output stage
115: AND gate
116: XOR gate
13: Processing unit
15: Timer
151: AND gate
152: Timing element
153: comparative element
154: Periodic temporary storage element
155: first latch
156: Second latch
17, 21: flipflop
171: Command output
20: Electric gripper
S S : Status signal
S N , S O : Operation command
S C : feedback signal
S T : Trigger signal
S31 to S36:

Claims (8)

A drive device for an electric gripper including a logic unit and a processing unit,
Wherein the logic unit includes a state detection terminal, an instruction input terminal, a feedback terminal, and a logic output terminal, the state detection terminal generates a state signal according to an operation of the electric gripper, the command input terminal receives an operation command, Wherein the operation command drives the electric gripper to perform an operation,
Wherein the processing unit includes two input stages and one output stage, the two input stages of the processing unit being respectively connected to a command input terminal and a logic output stage of the processing unit, and an output stage of the processing unit is connected to a feedback stage Wherein the feedback unit of the logic unit generates a feedback signal in accordance with the operation of the electric gripper and the logic unit is operable when the status signal corresponds to the idle state of the electric gripper, And the operation of the electric gripper corresponding to the operation command is inconsistent, the processing unit outputs the operation command,
Driving device of electric gripper. The method according to claim 1,
Wherein the logic unit comprises an AND gate and an XOR gate, the output of the AND gate being the logic output of the logic unit, the input of the AND gate being connected to the output of the XOR gate, And the two input terminals of the XOR gate are respectively the command input terminal and the feedback terminal of the logic unit and whether or not the operation of the electric gripper corresponding to the feedback signal and the operation command is matched Driving device of electric gripper to judge. The method according to claim 1,
Wherein the processing unit comprises a timer and a flip-flop, the timer being connected to the logic output of the logic unit, the two inputs of the flip-flop being connected to the command output of the timer and the logic unit, And the output terminal is connected to the feedback terminal of the logic unit to output the operation command. The method of claim 3,
Wherein the timer delays the flip-flop from outputting the action command. The method of claim 3,
Wherein the timer comprises an AND gate, a timing element, a comparison element, a cyclic temporary storage element, a first latch and a second latch, the AND gate of the timer receiving the timing trigger signal output by the logic unit, So that the timing element starts the accumulation timing, the comparison element compares the accumulation value accumulated timing of the timing element with the predetermined value stored in the periodic temporary storage, and the accumulation value is the predetermined value The comparator outputs a signal to the first latch and the second latch, the first latch resets the value of the timing unit, and the second latch triggers the flip-flop. Driving device. A driving method for use in a driving apparatus for an electric gripper,
Providing a status signal generated according to an operating state of the electric gripper;
Receiving an operation command and a feedback signal that detects an operation of the electric gripper when the status signal corresponds to an idle state; And
Outputting the operation command when the operation command and the operation of the electric gripper corresponding to the feedback signal are inconsistent;
. The method according to claim 6,
And does not output the operation command when the operation command and the operation of the electric gripper corresponding to the feedback signal coincide with each other. The method according to claim 6,
And when the operation command and the operation of the electric gripper corresponding to the feedback signal are inconsistent, outputting the operation command after delaying the time.
KR1020160008028A 2016-01-22 2016-01-22 Driver circuit for electric gripper and driving method thereof KR101734884B1 (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20200067998A (en) * 2017-12-13 2020-06-15 하이윈 테크놀로지스 코포레이션 Adaptive method for controlling an electric gripper, and the electric gripper
US10744652B2 (en) 2018-05-22 2020-08-18 Hiwin Technologies Corp. Adaptive method for controlling an electric gripper, and the electric gripper

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20200067998A (en) * 2017-12-13 2020-06-15 하이윈 테크놀로지스 코포레이션 Adaptive method for controlling an electric gripper, and the electric gripper
KR102179159B1 (en) * 2017-12-13 2020-11-18 하이윈 테크놀로지스 코포레이션 Adaptive method for controlling an electric gripper, and the electric gripper
US10744652B2 (en) 2018-05-22 2020-08-18 Hiwin Technologies Corp. Adaptive method for controlling an electric gripper, and the electric gripper

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