Control method of workpiece grabbing equipment, workpiece grabbing equipment and storage medium

By reducing the speed and performing precise position control during the jaw movement of the workpiece grasping equipment, the problem of insufficient fine control of the jaw movement speed and position control in the prior art is solved, and control accuracy and production efficiency are improved.

CN119706322AActive Publication Date: 2025-03-28INPAI BATTERY TECH CO LTD
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Patent Information

Application Number
CN202411623935.5
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2024-11-14
Publication Date
2025-03-28
Estimated Expiration
2044-11-14

AI Technical Summary

Technical Problem

In the control method of existing workpiece grasping equipment, the movement speed and position control of the jaws are not fine enough, resulting in untimely deceleration of the pressing part and the gripper in place but no workpiece detection signal failure, affecting production efficiency.

Method used

By reducing the movement speed of the jaw at least once during the movement of the jaw from the starting position to the workpiece grabbing position, and controlling the jaw speed at a specific deceleration position, precise position control is performed in combination with the signal of the detection element, ensuring that the jaw grabs the workpiece and returns to the starting position.

Benefits of technology

It improves the control accuracy of the workpiece grasping equipment, reduces the probability of failure caused by untimely deceleration, improves production efficiency, and reduces damage to jaws and other components.

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Abstract

The invention discloses a control method of workpiece grabbing equipment, the workpiece grabbing equipment and a storage medium. The method is used for controlling a clamping jaw in the equipment to grab a target workpiece, and comprises the following steps: controlling the clamping jaw to move downwards from an initial position at a first speed so as to approach the target workpiece; after the clamping jaw moves beyond the deceleration position, the moving speed of the clamping jaw is controlled to be lower than the first speed; and under the condition that the clamping jaw moves to the workpiece grabbing position, the clamping jaw is controlled to grab the target workpiece and return to the initial position. According to the method, in the process that the clamping jaw moves from the initial position to the workpiece grabbing position, the moving speed of the clamping jaw is reduced by at least one time, and the probability of occurrence of the situations such as workpiece pressing faults caused by untimely speed reduction is reduced. The position in the workpiece grabbing process is calculated through background program setting, the consistency and stability of each workpiece grabbing process are guaranteed, fixed track points needing to be set in the workpiece grabbing process are reduced, and therefore the control precision and self-adaptability of the motion track of the workpiece grabbing equipment are improved.
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