Control method and system for preventing overcurrent of electric clamping jaw, electric clamping jaw and storage medium

Abstract

The invention discloses a control method and system for preventing overcurrent of an electric clamping jaw, the electric clamping jaw and a storage medium, the electric clamping jaw is started to move, whether the clamping jaw makes contact with a workpiece or not is judged, and if yes, a detection and acquisition mode is started; detecting the actual position of the clamping jaw according to a set acquisition period; calculating a theoretical position during next detection, and setting the theoretical position as a target position; judging whether a difference value between the two actual positions is not greater than a set accepted value or not and whether the two target positions are progressively decreased or progressively increased or not; if not, the two clamping jaws continue to be driven to move towards the target position; and if yes, the electric clamping jaw is stopped. According to the control method and system for preventing overcurrent of the electric clamping jaw, the electric clamping jaw and the storage medium, two means of hardware and software are combined, false triggering caused by accidental touching of the clamping jaw is effectively avoided, the error rate of clamping is reduced, the working efficiency of clamping is improved, and overcurrent and motor burnout caused by rotation blocking of the electric clamping jaw can be avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of electric grippers, and in particular to a control method, a system, an electric gripper and a storage medium for preventing an electric gripper from overcurrent. Background Art

[0002] Many remote-controlled robotic arms are equipped with electric grippers at the end to grasp workpieces. The motor in the robotic arm usually has current or torque control feedback to prevent the motor from colliding and causing overcurrent damage due to motor stalling, but the electric grippers at the end often lack effective signal feedback control.

[0003] In the prior art, although the motors of some electric grippers have their own signal feedback function, which can prevent stalling, overcurrent or jamming to a certain extent, they are easily accidentally touched and triggered during the clamping process, resulting in a high error rate in clamping and poor clamping accuracy. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the defects of the prior art that the electric gripper is easily triggered by mistake, has a high clamping error rate and low clamping efficiency, and to provide a control method, system, electric gripper and storage medium to prevent the electric gripper from overcurrent.

[0005] The present invention solves the above technical problems through the following technical solutions:

[0006] A control method for preventing an electric clamp from overcurrent, the control method comprising the following steps:

[0007] S1, start the electric gripper to drive the two grippers set at intervals to move in the set moving direction;

[0008] S2, determining whether the clamping jaw contacts the target workpiece, and if so, entering a detection and acquisition mode for the position of the clamping jaw; comprising the following steps:

[0009] S21, detecting the actual position of the clamping jaws according to a set acquisition cycle;

[0010] S22, calculating the theoretical position of the clamp at the next detection according to the actual position, the set moving speed of the clamp, and the set acquisition period, and setting the theoretical position as the target position;

[0011] S23, judging whether the difference between the actual positions in the two previous and next acquisition cycles is not greater than the set acceptance value, and whether the target positions in the two previous and next acquisition cycles decrease or increase along the moving direction of the gripper;

[0012] S3, if not, continue to drive the two clamping jaws to move toward the target position and repeat step S2;

[0013] S4. If yes, stop setting the target position and stop the electric gripper.

[0014] In this scheme, the control method first detects whether the clamping jaws touch the target workpiece, then detects the actual position, and performs a real-time comparison between the actual position and the target position. The combination of the two methods can effectively avoid false triggering due to accidental contact with the clamping jaws before the clamping jaws actually clamp the target workpiece (i.e., the clamping action is considered to be completed as soon as the clamping jaws are touched), which leads to failure to actually complete the clamping action, thereby reducing the error rate of clamping and improving the work efficiency of clamping. Among them, by judging whether the clamping jaws are in contact with the target workpiece, the difference between the actual position of the clamping jaws and the target position can be avoided, which may cause the clamping jaws to be mistakenly considered to be in place; through the target position calculation set above, the target position is continuously adjusted, and the clamping jaws are driven to move toward the target position, so that the target workpiece can be clamped eventually; on the basis of contacting the target workpiece, by detecting the actual position, and comparing the difference between the actual position in the two previous and next acquisition cycles, and whether the target position in the two previous and next acquisition cycles decreases or increases along the moving direction of the clamping jaws, a correct judgment on whether the clamping jaws are in place can be achieved, so as to avoid the motor of the electric clamp being blocked after the clamping jaws are in place (that is, after the clamping jaws are in place, the motor is still rotating, but the actual position has no longer changed), which may cause overcurrent and burn out of the motor.

[0015] Preferably, the electric gripper comprises a plurality of touch detection units, and the plurality of touch detection units are arranged at different positions of one or two of the grippers, and the step S2 specifically comprises:

[0016] It is determined whether one or more of the touch detection units touch the target workpiece, and whether the one or more touch detection units that touch the target workpiece meet the set trigger conditions. If so, a detection and collection mode for the position of the clamp is entered.

[0017] In the present embodiment, when the electric gripper is provided with a plurality of touch detection units at different positions of the gripper, the control method determines whether one or more touch detection units in contact with the target workpiece meet the set trigger conditions. It can more accurately confirm whether the target workpiece is effectively triggered according to different types of target workpieces (for example, workpieces with different degrees of hardness on the surface) and target workpieces with different shapes and structures, thereby improving the precision and accuracy of the gripping.

[0018] Preferably, the two clamping jaws move from the outside toward the target workpiece located between the two clamping jaws to clamp the target workpiece;

[0019] The step S23 is specifically to determine whether the difference between the actual positions in the two previous and next acquisition cycles is not greater than the set acceptance value, and whether the target positions in the two previous and next acquisition cycles decrease along the moving direction of the gripper.

[0020] In this scheme, when the gripper clamps the target workpiece from the outside to the inside, the control method, through the above steps, determines whether the difference between the actual positions in the two previous and next acquisition cycles is not greater than the set acceptance value, and confirms in a decreasing manner whether the target position in the two previous and next acquisition cycles meets the requirements for clamping, thereby adapting to the working mode in which the gripper clamps the target workpiece from the outside to the inside.

[0021] Preferably, the step S1 specifically includes: starting the electric clamp to drive the two spaced-apart clamps to move back to back first, so as to open the two clamps to a set open position, and then drive the two clamps to move toward each other, so as to close and clamp the target workpiece.

[0022] In this solution, the control method ensures that the clamps can adapt to different workpiece sizes by driving the two clamps to move in opposite directions first and then move toward each other. The two clamps are moved in opposite directions and opened to a set opening position, so that the initial moving position of the clamps can be calibrated to avoid deviations in the position of the clamps after multiple clamping, thereby improving the accuracy of clamping.

[0023] Preferably, the set opening position is the maximum opening position of the electric clamp.

[0024] In this solution, the maximum opening position of the motor clamp is used as the set opening position, which is conducive to calibrating the reliability of the initial moving position.

[0025] A control system for preventing an electric gripper from overcurrent, the control system being used to implement the control method for preventing an electric gripper from overcurrent as described above, the control system comprising a control unit, a driver, a touch detection unit and a position detection unit, the control unit being electrically connected to the driver, the touch detection unit and the position detection unit;

[0026] The control unit includes a functional module for executing the control method, specifically including:

[0027] A first control module, the first control module is used to start the electric clamp and control the driver to drive the two clamps arranged at intervals to move in a set moving direction;

[0028] The second control module is used to receive the signal fed back by the touch detection unit, determine whether the touch detection unit installed on the clamping jaw contacts the target workpiece, and if so, enter the detection and collection mode of the position of the clamping jaw

[0029] a third control module, the third control module being used to control the position detection unit to detect the actual position of the clamping jaw according to a set acquisition cycle, and receive the actual position fed back by the position detection unit;

[0030] A fourth control module, the fourth control module is used to calculate the theoretical position of the clamping jaw at the next detection according to the actual position, the set moving speed of the clamping jaw, and the set acquisition cycle, and set the theoretical position as the target position;

[0031] The fifth control module is used to determine whether the difference between the actual position in the two previous and next acquisition cycles is not greater than the set acceptance value, and whether the target position in the two previous and next acquisition cycles decreases or increases along the moving direction of the clamp; if not, the driver is controlled to continue to drive the two clamps to move toward the target position; if so, the fourth control module is controlled to stop setting the target position and stop the driver.

[0032] In this solution, the control system effectively avoids false triggering caused by false contact with the clamping jaws, which leads to failure to truly complete the clamping action, through the control unit, driver, touch detection unit and position detection unit configured as above, in a combination of hardware (i.e., the touch detection unit contacts the target workpiece) and software (i.e., the control unit executes the above control method through various functional modules), thereby reducing the error rate of clamping and improving the work efficiency of clamping. It can also correctly judge whether the clamping is in place, avoiding the electric clamping jaws from stalling and causing overcurrent and burning the motor.

[0033] An electric clamp comprises two clamps arranged at intervals and the control system as described above, wherein the touch detection unit is arranged on the clamp, and the output end of the driver is connected to the clamp and drives the clamp to move in a set moving direction.

[0034] In this solution, the electric gripper effectively avoids false triggering due to accidental contact with the gripper by combining hardware and software through the above control system, which results in failure to truly complete the gripping action, thereby reducing the error rate of gripping and improving the working efficiency of gripping. It can also correctly judge whether the gripping is in place, avoiding the electric gripper from stalling and causing overcurrent and burning the motor.

[0035] Preferably, the control system comprises a plurality of the touch detection units, and the plurality of the touch detection units are arranged at different positions of one or both of the clamping jaws;

[0036] The second control module is used to determine whether one or more of the touch detection units contact the target workpiece, and determine whether the one or more touch detection units contacting the target workpiece meet the set trigger conditions. If so, enter the detection and acquisition mode of the position of the clamp.

[0037] In this solution, when the electric gripper is provided with a plurality of touch detection units at different positions of the gripper, the second control module determines whether one or more touch detection units in contact with the target workpiece meet the set trigger conditions. This can more accurately confirm whether the target workpiece is effectively triggered according to different types of target workpieces (for example, workpieces with different degrees of hardness on the surface) and target workpieces with different shapes and structures, thereby improving the precision and accuracy of gripping.

[0038] Preferably, the driver is a motor, and the position detection unit includes an encoder, and the encoder is used to calculate the moving position of the clamping jaw according to the number of rotations of the motor.

[0039] In this solution, compared with other detection devices, the use of an encoder can improve the accuracy of position detection.

[0040] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the above-mentioned control method for preventing an electric clamp from overcurrent.

[0041] In this solution, the computer-readable storage medium can implement the above-mentioned control method for preventing the electric clamp from overcurrent by storing a computer program.

[0042] The positive and progressive effect of the present invention is that the control method, system, electric clamp and storage medium for preventing electric clamp from overcurrent first detect whether the clamp contacts the target workpiece, then detect the actual position, and compare the actual position with the target position in real time, and effectively avoid the false triggering caused by the mistaken contact with the clamp, which leads to the failure to truly complete the clamping action, thereby reducing the error rate of clamping and improving the working efficiency of clamping. It can also correctly judge whether the clamping is in place, avoiding the electric clamp from stalling and causing overcurrent and burning the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a flow chart of the steps of a control method for preventing an electric clamp from overcurrent according to Embodiment 1 of the present invention.

[0044] Figure 2 It is a curve diagram of the opening and closing changes of the clamping jaws in the prior art simulating the clamping process.

[0045] Figure 3 This is a schematic diagram of the functional modules of a control system for preventing overcurrent of an electric gripper according to Embodiment 2 of the present invention.

[0046] Figure 4 This is a schematic diagram of a control module of a control unit in embodiment 2 of the present invention.

[0047] Figure 5 This is a schematic diagram of the structure of the electric gripper of Example 3 of the present invention.

[0048] Description of reference numerals:

[0049] Gripper 1

[0050] Drive 2

[0051] Conveyor Belt 3

[0052] Screw 4 DETAILED DESCRIPTION

[0053] The present invention is further described below by way of examples, but the present invention is not limited to the scope of the examples.

[0054] Example 1

[0055] The present embodiment provides a control method for preventing an electric clamp from overcurrent, wherein the electric clamp includes two clamps arranged at intervals, a control unit, a driver, a touch detection unit, and a position detection unit. The driver is specifically a motor, which is connected to a lead screw through a conveyor belt, and the two clamps move horizontally on the lead screw through a slider. The touch detection unit is specifically a touch switch or a contact sensor, and the touch switch is placed on the clamp. When the clamp drives the touch switch to move and contacts the target workpiece to be clamped, the touch switch can feed back a contact signal to the control unit to confirm that the target workpiece has been contacted. The position detection unit includes an encoder, which is arranged in the motor. The encoder can accurately identify the number of revolutions of the motor and feed back a signal to the control unit. The control unit calculates the actual position of the clamp based on the number of revolutions and the corresponding relationship between the distance the clamp moves and the number of revolutions.

[0056] like Figure 1 As shown, the control method includes the following steps:

[0057] S1, start the electric gripper to drive the two grippers set at intervals to move in the set moving direction;

[0058] S2, judging whether the clamping jaw contacts the target workpiece, if so, entering the detection and acquisition mode of the position of the clamping jaw; comprising the following steps:

[0059] S21, detecting the actual position of the gripper at a set acquisition cycle;

[0060] S22, calculating the theoretical position of the gripper at the next detection according to the actual position, the set moving speed of the gripper, and the set acquisition cycle, and setting the theoretical position as the target position;

[0061] S23, judging whether the difference between the actual positions in the two previous and next acquisition cycles is not greater than the set acceptance value, and whether the target positions in the two previous and next acquisition cycles decrease or increase along the moving direction of the gripper;

[0062] S3, if not, continue to drive the two grippers to move toward the target position and repeat step S2;

[0063] S4. If yes, stop setting the target position and stop the electric gripper.

[0064] When clamping a workpiece, if only the clamping jaws are checked to see if they are in contact with the target workpiece, without calculating or comparing the actual position and the target position (this includes calculating the target position, continuously driving from the actual position to the target position and replacing the actual position and the target position in the next acquisition cycle, as well as performing a real-time comparison of the actual position and the target position), then because the workpiece surface has a certain elasticity, although the clamping jaws have contact with the workpiece, they may not be clamped tightly, causing the workpiece to fall off. If only the actual position and the target position are calculated and compared, without checking whether the clamping jaws are in contact with the target workpiece, then because the clamping jaws may move to extreme positions or other factors, the comparison result of the actual position and the target position also meets the judgment condition of step S23, but in fact the workpiece is not actually clamped in place. This situation is a manifestation of accidental contact or mis-triggering. For example, if Figure 2 As shown, a clamping process in the prior art is simulated, such as Figure 3 As shown in point A of the figure, there is a certain time difference between the control signal of the gripper and the change of the actual position. Therefore, when the target position of the gripper begins to close, the actual position will remain unchanged for a certain period of time. This situation is different from the situation where the actual position remains unchanged after the gripping is completed and the target position continues to decrease (i.e. Figure 3 The same as point B at point A), that is, point A also meets the judgment condition of step S23, but the electric gripper obviously does not really grip the target workpiece at point A. If the gripping work stops at point A, it is regarded as a false trigger.

[0065] Therefore, this control method first detects whether the clamping jaws touch the target workpiece, then detects the actual position, and performs a real-time comparison between the actual position and the target position. The combination of the two methods can effectively avoid false triggering due to accidental contact with the clamping jaws before the clamping jaws actually clamp the target workpiece (that is, the clamping action is considered to be completed as soon as the clamping jaws are touched), which leads to failure to actually complete the clamping action, thereby reducing the error rate of clamping and improving the work efficiency of clamping. Among them, by judging whether the clamping jaws are in contact with the target workpiece, the difference between the actual position of the clamping jaws and the target position can be avoided, which may cause the clamping jaws to be mistakenly considered to be in place; through the target position calculation set above, the target position is continuously adjusted, and the clamping jaws are driven to move toward the target position, so that the target workpiece can be clamped eventually; on the basis of contacting the target workpiece, by detecting the actual position, and comparing the difference between the actual position in the two previous and next acquisition cycles, and whether the target position in the two previous and next acquisition cycles decreases or increases along the moving direction of the clamping jaws, a correct judgment on whether the clamping jaws are in place can be achieved, so as to avoid the motor of the electric clamp being blocked after the clamping jaws are in place (that is, after the clamping jaws are in place, the motor is still rotating, but the actual position has no longer changed), which may cause overcurrent and burn out of the motor.

[0066] In other embodiments, the electric gripper may include a plurality of touch detection units, and the plurality of touch detection units are disposed at different positions of one or two grippers. Then step S2 may specifically include:

[0067] It is determined whether one or more of the plurality of touch detection units touch the target workpiece, and whether the one or more touch detection units that touch the target workpiece meet the set trigger conditions. If so, a detection and acquisition mode for the position of the clamping jaw is entered.

[0068] When the electric clamp is provided with multiple touch detection units at different positions of the clamp, the control method can more accurately confirm whether the target workpiece is effectively triggered according to different types of target workpieces (for example, workpieces with different hardness and softness on the surface) and target workpieces of different shapes and structures by judging whether one or more touch detection units that touch the target workpiece meet the set trigger conditions, thereby improving the precision and accuracy of clamping. For example, if the workpiece that is frequently clamped is circular, a touch detection unit can be set at the center position of the clamp to judge whether the workpiece is touched at the maximum outer diameter. If the workpiece that is frequently clamped is a multi-faceted rhombus, a touch detection unit can be set at the position of the clamp corresponding to the plane of the rhombus object, with whether the working surface of the rhombus object is in contact as the basis for judgment. When multiple touch detection units are provided, the touch detection unit that is first in contact or last in contact can be selected as the judgment condition for whether there is contact, depending on the different workpieces or needs.

[0069] In this embodiment, the two clamps move from the outside to the target workpiece located between the two clamps to clamp the target workpiece; then step S23 is specifically: judging whether the difference between the actual positions in the two previous and next acquisition cycles is not greater than the set acceptance value, and whether the target positions in the two previous and next acquisition cycles decrease along the moving direction of the clamps.

[0070] When the gripper clamps the target workpiece from the outside to the inside, the control method, through the above steps, determines whether the difference between the actual positions in the two previous and next acquisition cycles is not greater than the set acceptance value, and then confirms in a decreasing manner whether the target position in the two previous and next acquisition cycles satisfies the clamping requirement, thereby adapting to the working mode in which the gripper clamps the target workpiece from the outside to the inside.

[0071] In other embodiments, depending on the workpiece, the two clamps can be designed to move from the middle to the outside to clamp the workpiece in a stretched manner. In this case, step S23 can be specifically as follows: determine whether the difference between the actual positions in the two previous and next acquisition cycles is not greater than the set acceptance value, and whether the target positions in the two previous and next acquisition cycles increase along the moving direction of the clamps.

[0072] In this embodiment, step S1 specifically also includes: starting the electric clamp to drive the two spaced-apart clamps to move back to back first, so as to open the two clamps to a set open position, and then drive the two clamps to move toward each other, so as to close and clamp the target workpiece.

[0073] The control method ensures that the clamps can adapt to different workpiece sizes by driving the two clamps to move first in opposite directions and then in opposite directions. The two clamps are moved in opposite directions and opened to the set opening position, so as to calibrate the initial moving position of the clamps and avoid the position deviation of the clamps after multiple clamping, thereby improving the accuracy of clamping.

[0074] The set opening position is the maximum opening position of the electric gripper.

[0075] In other embodiments, whether the two jaws need to move back to back first and then move toward each other can be set accordingly according to the size of the workpiece or other needs, and it is not necessary that each clamping action needs to move back to back first and then move toward each other. For the efficiency of the clamping operation, the set opening position may not be the maximum opening position of the electric jaws, but a certain opening position on the jaws moving path is selected. However, this embodiment uses the maximum opening position of the motor jaws as the set opening position, which is conducive to the reliability of calibrating the initial moving position, because when the jaws are opened to the maximum opening, the jaws stably rest against the end of the screw rod, and the end is the best point for setting the initial moving position. Each time the jaws begin to contract inward to clamp, the end is used as the initial point to start the movement, which is not easy to deviate, thereby improving the accuracy of the calibration.

[0076] Example 2

[0077] This embodiment provides a control system for preventing the electric clamp from overcurrent, and the control system is used to implement the control method for preventing the electric clamp from overcurrent as in Embodiment 1. Figure 3 As shown, the control system includes a control unit, a driver, a touch detection unit and a position detection unit, and the control unit is electrically connected to the driver, the touch detection unit and the position detection unit.

[0078] like Figure 4 As shown, the control unit includes a functional module for executing the control method, specifically including:

[0079] A first control module 100, the first control module 100 is used to start the electric gripper, and control the driver to drive two spaced grippers to move in a set moving direction;

[0080] The second control module 200 is used to receive the signal fed back by the touch detection unit, and determine whether the touch detection unit installed on the clamping jaw contacts the target workpiece. If so, the detection and collection mode of the position of the clamping jaw is entered.

[0081] The third control module 300 is used to control the position detection unit to detect the actual position of the clamping claw according to the set acquisition cycle, and receive the actual position fed back by the position detection unit;

[0082] The fourth control module 400 is used to calculate the theoretical position of the clamping jaw at the next detection according to the actual position, the set moving speed of the clamping jaw, and the set acquisition cycle, and set the theoretical position as the target position;

[0083] The fifth control module 500 is used to determine whether the difference between the actual positions in the two previous and next acquisition cycles is not greater than the set acceptance value, and whether the target position in the two previous and next acquisition cycles decreases or increases along the moving direction of the clamp; if not, the driver is controlled to continue to drive the two clamps to move toward the target position; if so, the fourth control module is controlled to stop setting the target position and stop the driver.

[0084] The control system effectively avoids false triggering due to false contact with the clamping jaws, which leads to failure to truly complete the clamping action, through the control unit, driver, touch detection unit and position detection unit configured as above, in a combination of hardware (i.e., the touch detection unit contacts the target workpiece) and software (i.e., the control unit executes the above control method through various functional modules), thereby reducing the error rate of clamping and improving the work efficiency of clamping. It can also correctly judge whether the clamping is in place, avoiding the electric clamping jaws from stalling and causing overcurrent and burning the motor.

[0085] Example 3

[0086] This embodiment provides an electric gripper. Figure 5 As shown, the electric clamp includes two spaced-apart clamps 1 and a control system as in Example 2, wherein the control system includes a control unit (not shown in the figure), a driver 2, a touch detection unit (not shown in the figure) and a position detection unit. The driver 2 is specifically a motor, the output end of which is connected to the screw 4 through a conveyor belt 3, and the screw 4 is connected to the two clamps 1 through a slider; when the motor is running, the clamp is driven to move in a set moving direction through the conveyor belt 3, the screw 4 and the slider. The touch detection unit is specifically a touch switch or a contact sensor, which is placed on the clamp 1. When the clamp 1 drives the touch switch to move and contacts the target workpiece to be clamped, the touch switch can feedback a contact signal to the control unit to confirm that the target workpiece is contacted. The position detection unit includes an encoder (not shown in the figure), which is arranged in the motor. The encoder can accurately identify the number of revolutions of the motor and feedback a signal to the control unit. The control unit calculates the actual position of the clamp 1 according to the number of revolutions and the corresponding relationship between the distance the clamp moves and the number of revolutions.

[0087] The electric gripper can effectively avoid false triggering due to accidental contact with the gripper 1, thereby preventing the gripping action from being truly completed, by combining hardware and software through the control system, thereby reducing the gripping error rate and improving the gripping work efficiency. It can also correctly judge whether the gripping is in place, avoiding the electric gripper from stalling and causing overcurrent and burning the motor.

[0088] In other embodiments, if the control system includes a plurality of touch detection units, and the plurality of touch detection units are placed at different positions of one or two clamps 1; at this time, the second control module 200 is used to determine whether one or more of the plurality of touch detection units are in contact with the target workpiece, and determine whether the one or more touch detection units in contact with the target workpiece meet the set trigger conditions, and if so, enter the detection and collection mode of the position of the clamp 1.

[0089] When the electric gripper is provided with a plurality of touch detection units at different positions of the gripper 1, the second control module 200 determines whether one or more touch detection units in contact with the target workpiece meet the set triggering conditions. This can more accurately confirm whether the target workpiece is effectively triggered according to different types of target workpieces (for example, workpieces with different degrees of hardness on the surface) and target workpieces with different shapes and structures, thereby improving the precision and accuracy of gripping.

[0090] In other embodiments, the driver may be a driving device other than a motor, and the component used to detect the position in the position detection unit may be a detection device other than an encoder. However, compared with other detection devices, the encoder is used in this embodiment to improve the accuracy of position detection.

[0091] Example 4

[0092] This embodiment provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the control method for preventing the electric clamp from overcurrent in embodiment 1 is implemented. The computer-readable storage medium can implement the control method for preventing the electric clamp from overcurrent by storing the computer program.

[0093] Although the specific embodiments of the present invention are described above, it should be understood by those skilled in the art that this is only for illustration and the protection scope of the present invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but these changes and modifications all fall within the protection scope of the present invention.

Claims

1. A control method for preventing overcurrent of an electric gripper, characterized in that: The control method comprises the following steps: S1, start the electric gripper to drive the two grippers set at intervals to move in the set moving direction; S2, determining whether the clamping jaw contacts the target workpiece, and if so, entering a detection and acquisition mode for the position of the clamping jaw; comprising the following steps: S21, detecting the actual position of the clamping jaws according to a set acquisition cycle; S22, calculating the theoretical position of the clamp at the next detection according to the actual position, the set moving speed of the clamp, and the set acquisition period, and setting the theoretical position as the target position; S23, determining whether the difference between the actual positions in the two previous and next acquisition cycles is not greater than a set acceptance value, and whether the target positions in the two previous and next acquisition cycles decrease or increase along the moving direction of the gripper; S3, if not, continue to drive the two clamping jaws to move toward the target position and repeat step S2; S4. If yes, stop setting the target position and stop the electric gripper.

2. The control method for preventing overcurrent of the electric gripper according to claim 1, characterized in that: The electric gripper includes a plurality of touch detection units, and the plurality of touch detection units are arranged at different positions of one or two grippers, and the step S2 specifically includes: It is determined whether one or more of the touch detection units touch the target workpiece, and whether the one or more touch detection units that touch the target workpiece meet the set trigger conditions. If so, a detection and acquisition mode for the position of the clamp is entered.

3. The control method for preventing overcurrent of the electric gripper according to claim 1, characterized in that: The two clamping jaws move from the outside toward the target workpiece located between the two clamping jaws to clamp the target workpiece; The step S23 is specifically to determine whether the difference between the actual positions in the two previous and next acquisition cycles is not greater than the set acceptance value, and whether the target positions in the two previous and next acquisition cycles decrease along the moving direction of the gripper.

4. The control method for preventing overcurrent of the electric gripper according to claim 3, characterized in that: The step S1 specifically includes: The electric clamp is started to drive the two spaced-apart clamps to move back to back first, so as to open the two clamps to a set opening position, and then the two clamps are driven to move toward each other, so as to close and clamp the target workpiece.

5. The control method for preventing overcurrent of the electric gripper according to claim 4, characterized in that: The set opening position is the maximum opening position of the electric clamp.

6. A control system for preventing electric grippers from overcurrent, characterized in that: The control system is used to implement the control method for preventing the electric clamp from overcurrent according to any one of claims 1 to 5, and the control system includes a control unit, a driver, a touch detection unit and a position detection unit, and the control unit is electrically connected to the driver, the touch detection unit and the position detection unit; The control unit includes a functional module for executing the control method, specifically including: A first control module, the first control module is used to start the electric clamp and control the driver to drive the two clamps arranged at intervals to move in a set moving direction; The second control module is used to receive the signal fed back by the touch detection unit, determine whether the touch detection unit installed on the clamping jaw contacts the target workpiece, and if so, enter the detection and collection mode of the position of the clamping jaw a third control module, the third control module being used to control the position detection unit to detect the actual position of the clamping jaw according to a set acquisition cycle, and receive the actual position fed back by the position detection unit; A fourth control module, the fourth control module is used to calculate the theoretical position of the clamping jaw at the next detection according to the actual position, the set moving speed of the clamping jaw, and the set acquisition cycle, and set the theoretical position as the target position; The fifth control module is used to determine whether the difference between the actual position in the two previous and next acquisition cycles is not greater than the set acceptance value, and whether the target position in the two previous and next acquisition cycles decreases or increases along the moving direction of the clamp; if not, the driver is controlled to continue to drive the two clamps to move toward the target position; if so, the fourth control module is controlled to stop setting the target position and stop the driver.

7. An electric gripper, characterized in that: The electric gripper comprises two grippers arranged at intervals and a control system as claimed in claim 6, the touch detection unit is arranged on the gripper, the output end of the driver is connected to the gripper, and drives the gripper to move in a set moving direction.

8. The electric gripper according to claim 7, characterized in that: The control system comprises a plurality of the touch detection units, and the plurality of the touch detection units are arranged at different positions of one or two of the clamping jaws; The second control module is used to determine whether one or more of the touch detection units contact the target workpiece, and determine whether the one or more touch detection units contacting the target workpiece meet the set trigger conditions. If so, enter the detection and acquisition mode of the position of the clamp.

9. The electric gripper according to claim 7, characterized in that: The driver is a motor, and the position detection unit includes an encoder, which is used to calculate the moving position of the clamping jaw according to the number of rotations of the motor.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the control method for preventing overcurrent of the electric clamp according to any one of claims 1 to 5 is implemented.

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