Gripper driving mechanism and control method thereof

Abstract

The embodiment of the present invention discloses a clamping jaw driving mechanism and a control method thereof, wherein the driving mechanism includes a wire rack and two groups of voice coil motor mechanisms for driving the clamping jaws to move, and the two groups of voice coil motor mechanisms are symmetrically arranged on both sides of the wire rack. The present invention uses two voice coil motors to drive the clamping jaws, which has high flexibility. One motor controls one side of the clamping jaws alone, and can move one side of the clamping jaws alone to the side of the product to close to the product according to the position of the product, and then the clamping jaws of the motor on the other side move to clamp the product, so as to ensure that the position of the product does not move during the clamping process; after the present invention uses two motors to control the clamping jaws to clamp the product, if the product needs to be moved appropriately, the clamping jaws can move the two motors to one side to adjust the position of the product and adjust the position of the next section of movement and transportation. The two motors of the present invention are integrated on the same part, so that the overall structure can be made smaller.

Description

Technical Field

[0001] The present invention relates to the field of automation technology, and in particular to a clamping claw driving mechanism and a control method thereof. Background Art

[0002] Most of the existing grippers use a single motor + connecting rod structure to open and close the grippers. Because the grippers on both sides share the same motor power source, the grippers on both sides can only open or close at the same time, which is low in flexibility. When the grippers on one side need to first approach one side of the product, and then the grippers on the other side move to fit the other side of the product, the grippers that share the same motor cannot achieve this action. The grippers in the current price range use a motor + connecting rod structure to open and close the grippers. Because the clamping action is achieved through the conversion of multiple motion structures, the accuracy of open-loop force control and the accuracy of the position after clamping are reduced.

[0003] The motors of existing grippers do not have cold-cut devices or the cold-cut devices are rather arbitrary. When the electric gripper is required to be compact in size but the clamping force must be as large as possible, if the motor outputs force at the limit load rate, it will cause the motor temperature to rise too high and easily burn the motor. Even if there is a cold-cut device, it is simply and roughly blowing gas at the surface of the motor, which has a poor heat dissipation effect. In addition, the motor is blown directly, and the blown-out airflow does not have a structure for air circulation and discharge. This will cause the hot air flow for dissipating heat from the motor to be concentrated inside the equipment, resulting in a high temperature rise inside the equipment. In addition, the airflow blowing directly at the motor will create resistance to the motor, causing fluctuations in the motor output force. If force control is required, this method is not advisable.

[0004] In addition, existing clamping jaws cannot achieve high-precision clamping force control. Summary of the invention

[0005] The technical problem to be solved by the embodiments of the present invention is to provide a clamping jaw driving mechanism and a control method thereof to improve the flexibility of the clamping jaw.

[0006] In order to solve the above technical problems, an embodiment of the present invention proposes a clamping claw driving mechanism, including a bobbin and two groups of voice coil motor mechanisms for driving the movement of the clamping claw, and the two groups of voice coil motor mechanisms are symmetrically arranged on both sides of the bobbin.

[0007] Furthermore, the voice coil motor mechanism includes a bobbin barrel, a coil, a yoke, a magnet and a magnetic steel. The bobbin barrel is arranged on the bobbin, the coil is arranged on the bobbin barrel, the yoke is arranged in the bobbin barrel, the magnet is arranged on the yoke, and the magnetic steel connects the magnet.

[0008] Furthermore, a connecting portion for connecting the clamping claws is provided on the magnetic steel.

[0009] Furthermore, an inner ring and an outer ring are respectively provided at both ends of the wire rack barrel, and the coil is provided between the inner ring and the outer ring.

[0010] Furthermore, a heat dissipation air duct is provided on the wire rack barrel, an air inlet and an air outlet are provided on the wire rack, and both ends of the heat dissipation air ducts on the two groups of wire rack barrels are respectively connected to the air inlet and the air outlet.

[0011] Furthermore, it also includes an outer shell and an air pipe, the outer shell is provided with an air inlet joint and an air outlet joint, an air path is provided in the outer shell, the air inlet joint is connected to the air inlet on the wire rack through the air pipe, and the air outlet joint is connected to the air outlet on the wire rack through the air path.

[0012] Furthermore, it also includes two groups of guide rail assemblies, and the two groups of guide rail assemblies are respectively connected to the two groups of voice coil motor mechanisms.

[0013] Furthermore, it also includes two groups of grating scale mechanisms respectively used to detect the movement positions of the two groups of voice coil motor mechanisms.

[0014] Furthermore, an anti-collision rubber block is correspondingly provided on the wire rack.

[0015] Correspondingly, an embodiment of the present invention further provides a method for controlling a clamping claw driving mechanism, comprising independently controlling the clamping force and clamping position of two groups of voice coil motor mechanisms according to the position of a product to be clamped.

[0016] The beneficial effects of the present invention are as follows: the present invention uses two voice coil motors to drive the clamping jaws, which is highly flexible. One motor controls one side of the clamping jaws alone, and can move one side of the clamping jaws alone to the side of the product to close to the product according to the position of the product, and then the other side of the motor clamping jaws moves to clamp the product, so as to ensure that the position of the product does not move during the clamping process; after the present invention uses two motors to control the clamping jaws to clamp the product, if the product needs to be moved appropriately, the clamping jaws can move the two motors to one side to adjust the position of the product and adjust the position of the next section of movement and transportation. The two motors of the present invention are integrated on the same part, which can make the overall structure more compact. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional structural diagram of the clamping jaw driving mechanism according to an embodiment of the present invention.

[0018] Figure 2 It is an internal structure diagram of the clamping jaw driving mechanism of an embodiment of the present invention at one angle.

[0019] Figure 3 It is a diagram of the internal structure of the clamping jaw driving mechanism of an embodiment of the present invention from another angle.

[0020] Figure 4 Detailed description of the invention Figure 2 is an exploded view of a clamping jaw driving mechanism according to an embodiment of the present invention.

[0021] Figure 5 4 is a structural diagram of a housing according to an embodiment of the present invention.

[0022] Figure 6 yes Figure 5 Cross-sectional view at AA in the middle.

[0023] Figure 7 FIG. 4 is a partial exploded view of a voice coil motor mechanism according to an embodiment of the present invention.

[0024] Figure 8 It is a three-dimensional structural diagram of a wire rack barrel according to an embodiment of the present invention.

[0025] Description of Figure Numbers

[0026] Wire rack 10, air inlet 11, air outlet 12, power cord 13, anti-collision rubber block 14, voice coil motor mechanism 20, wire rack barrel 21, coil 22, yoke 23, magnet 24, magnetic steel 25, connecting part 26, inner ring 27, outer ring 28, heat dissipation air duct 29, outer shell 30, air pipe 31, air path 32, air inlet connector 33, air outlet connector 34, guide rail assembly 40, grating scale mechanism 50. DETAILED DESCRIPTION

[0027] It should be noted that, in the absence of conflict, the embodiments in the present application and the features in the embodiments may be combined with each other. The present invention is further described in detail below in conjunction with the drawings and specific embodiments.

[0028] In the embodiments of the present invention, if there are directional indications (such as up, down, left, right, front, back, etc.), they are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0029] In addition, in the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0030] Please refer to Figures 1 to 8 The clamp driving mechanism of the embodiment of the present invention comprises a wire frame and two groups of voice coil motor mechanisms for driving the clamp movement. In order to save space, the two voice coil motor mechanisms use one wire frame.

[0031] Two groups of voice coil motor mechanisms are symmetrically arranged on the left and right sides of the wire rack. The present invention adopts two direct-drive voice coil motor mechanisms to realize the opening and closing of the clamping jaws, replacing the traditional single motor for unilateral movement of the clamping jaws for opening and closing clamping, or a single motor realizes the opening and closing of the clamping jaws through a connecting rod mechanism. The traditional conventional clamping jaws are less flexible to use and cannot adapt to the inconsistency of product position, which causes damage to the product clamping. The main source of damage to the product is that when there is an error between the center position of the clamping jaw and the center position between the two clamping surfaces of the product, the product will produce a relative displacement relative to the clamping after clamping, and this relative displacement may cause product damage. The present invention adopts two voice coil motors to realize centering clamping and opening, with the purpose of making the clamping more flexible. The clamping jaws themselves can adjust their position unilaterally according to the product position, and then clamp the other side of the clamping jaws to ensure that the center of the clamping jaws and the center of the product are aligned before clamping, so as to avoid clamping displacement of the product after the clamping jaws clamp the product.

[0032] As an implementation method, the voice coil motor mechanism includes a bobbin barrel, a coil, a yoke, a magnet and a magnetic steel. The bobbin barrel is arranged on the bobbin, the coil is arranged on the bobbin barrel, the yoke is arranged in the bobbin barrel, the magnet is arranged on the yoke, and the magnetic steel connects the magnet. The bobbin barrel and the coil constitute the mover of the motor, and the yoke, the magnet and the magnetic steel constitute the stator of the motor. The mover of the voice coil motor mechanism of the present invention does not move, and drives the stator to move, which can avoid the external force of the cable and the air pipe on the motor when the coil moves, which will affect the stability of the open-loop force control.

[0033] The clamping jaw driving mechanism also includes a power line corresponding to the coil, and the power line is arranged on the wire rack.

[0034] As an implementation mode, a connecting portion for connecting the clamping claws is provided on the magnetic steel.

[0035] The connection part of the magnetic steel is provided with screw countersunk holes for fixing with the slider of the guide rail assembly, and tooth holes for fixing with the mounting surface features of the external clamping claw parts, so that the structure is more compact. In specific implementation, the magnet and the yoke as well as the magnet and the magnetic steel can be fixed together in the center by strong glue to form the stator of the motor, and then installed with the coil and the wire frame barrel.

[0036] As an implementation mode, an inner ring and an outer ring are respectively provided at the inner and outer ends of the wire rack barrel, and the coil is provided between the inner ring and the outer ring.

[0037] As an implementation method, a heat dissipation air duct is provided on the wire rack barrel, and an air inlet and an air outlet are provided on the wire rack, and both ends of the heat dissipation air duct on the two sets of wire rack barrels are connected to the air inlet and the air outlet respectively. The heat dissipation air duct is preferably a groove provided on the outer circumference of the wire rack barrel, and the groove facilitates the user to produce the wire rack barrel by a composite machining method of turning and milling. Ventilating the motor through the groove to dissipate heat can allow the voice coil motor mechanism to be used in a higher power range without overheating, and can increase the output by about 30%. The output of the same motor without air cooling and with air cooling differs by about 30%.

[0038] The present invention uses the same wire rack to conveniently and centrally design the heat dissipation airway. The heat dissipation airway has one inlet and one outlet, and the high-temperature gas after cold cutting can be discharged outside the equipment through the circulating air path, ensuring that the high-temperature gas does not affect the surrounding environment.

[0039] Preferably, the heat dissipation airway is in a continuous "Z" shape and surrounds the wire rack barrel 360 degrees. The "Z"-shaped groove and the coil wound on the wire rack barrel form a sealed airway. The inner ring is sleeved on the inner side of the wire rack barrel to cover the groove on the inner side of the wire rack barrel in the axial direction of the outer circle to prevent the copper wire from being embedded in the groove during winding, resulting in a blocked airway. By the same token, the outer ring is sleeved on the outer end of the wire rack barrel to cover the groove on the outer side of the wire rack barrel in the axial direction of the outer circle to prevent the copper wire from being embedded in the groove during winding, resulting in a blocked airway. The groove on the wire rack barrel that is parallel to the outer circle axis is very narrow in width, so the copper wire will not be embedded in the groove during winding. Therefore, a sealed airway is formed through the wire rack barrel + inner ring + outer ring and coil.

[0040] The groove + outer ring + inner ring + coil on the wire rack barrel of the present invention forms a sealed airway. The present invention adopts the design of outer ring + inner ring, which can prevent the coil from being embedded in the outer circle groove on the "Z" axis air path when installing the coil. Before winding, the inner ring is first put on the inner side of the wire rack barrel, and then the outer ring is fixed on the outer side of the wire rack barrel. In the specific implementation, the three parts of the outer ring + inner ring + coil can be fixed with strong glue in addition to the precise matching of the shaft hole to ensure that the air groove at the matching position does not leak. After the coil is wound, the coil is placed in the oven for baking, the purpose of which is to make the coil bonded into one. Because the coils are tightly attached to each other and the copper wire is a self-adhesive copper wire, after winding, the coil and the wire rack are taken to the oven together for baking. During the baking process, the copper wire will stick together, so that the coil can seal the groove on the wire rack that is parallel to the outer circle axis of the wire rack barrel without leaking. After the coil comes out of the oven, place the wire ends of the coil in the wire outlet on the wire rack, then weld the two wire ends to the power wires respectively, place the welding head in the wire outlet on the wire rack, and then fill it with glue. After the glue solidifies, the motor is completed.

[0041] As an implementation method, the gripper drive mechanism also includes a housing and an air pipe, the housing is provided with an air inlet connector and an air outlet connector, the housing is provided with an air path, the air inlet connector is connected to the air inlet on the wire rack through the air pipe, and the air outlet connector is connected to the air outlet on the wire rack through the air path. In specific implementation, each connection is sealed by an O-ring. The air path is arranged inside the housing, which can also cool the housing to a certain extent. The airflow passes through the bottom of the housing and then enters the motor wire rack. In addition to cold cutting the voice coil motor mechanism, the air path design can also cold cut the housing, so that the temperature of the voice coil motor mechanism and the housing is relatively balanced.

[0042] As an implementation mode, the clamp driving mechanism further includes two sets of guide rail assemblies, and the two sets of guide rail assemblies are respectively connected to two sets of voice coil motor mechanisms to guide the movement of the voice coil motor mechanisms.

[0043] As an implementation mode, the clamp driving mechanism further includes two groups of grating scale mechanisms respectively used to detect the moving positions of the two groups of voice coil motor mechanisms.

[0044] As an implementation mode, an anti-collision rubber block is correspondingly provided on the wire rack.

[0045] The control method of the clamping jaw driving mechanism of the embodiment of the present invention includes independently controlling the clamping force and clamping position of two groups of voice coil motor mechanisms according to the position of the product to be clamped.

[0046] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A clamping jaw driving mechanism, characterized in that: It includes a wire frame and two sets of voice coil motor mechanisms for driving the clamping claws to move, and the two sets of voice coil motor mechanisms are symmetrically arranged on both sides of the wire frame; The voice coil motor mechanism includes a bobbin barrel, a coil, a yoke, a magnet and a magnetic steel, wherein the bobbin barrel is arranged on the bobbin, the coil is arranged on the bobbin barrel, the yoke is arranged in the bobbin barrel, the magnet is arranged on the yoke, and the magnetic steel is connected to the magnet; An inner ring and an outer ring are respectively provided at the two ends of the wire rack barrel, and the coil is arranged between the inner ring and the outer ring; The wire rack barrel is provided with a heat dissipation air duct, and the wire rack is provided with an air inlet and an air outlet. Both ends of the heat dissipation air ducts on the two sets of wire rack barrels are respectively connected to the air inlet and the air outlet. The heat dissipation air duct is a groove arranged on the outer periphery of the wire rack barrel.

2. The clamping jaw driving mechanism according to claim 1, characterized in that: The magnetic steel is provided with a connecting portion for connecting the clamping claws.

3. The clamping jaw driving mechanism according to claim 1, characterized in that: It also includes a shell and an air pipe. The shell is provided with an air inlet joint and an air outlet joint. The shell is provided with an air path. The air inlet joint is connected to the air inlet on the wire rack through the air pipe, and the air outlet joint is connected to the air outlet on the wire rack through the air path.

4. The clamping jaw driving mechanism according to claim 1, characterized in that: It also includes two sets of guide rail assemblies, and the two sets of guide rail assemblies are respectively connected to two sets of voice coil motor mechanisms.

5. The clamping jaw driving mechanism according to claim 1, characterized in that: It also includes two groups of grating scale mechanisms for detecting the movement positions of the two groups of voice coil motor mechanisms respectively.

6. The clamping jaw driving mechanism according to claim 1, characterized in that: Anti-collision rubber blocks are correspondingly arranged on the wire rack.

7. A method for controlling a gripper drive mechanism according to any one of claims 1 to 6, characterized in that: The clamping force and clamping position of the two voice coil motor mechanisms are independently controlled according to the position of the product to be clamped.

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