Mechanical Finger Limit-Angle Control to Prevent Motor Impact
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Solution Overview
Problem
Existing methods for controlling mechanical fingers in tote robots using reduction motors result in mechanical impacts, leading to issues like shaft breakage, motor burnout, and position switch damage, despite the installation of position switches to mitigate these problems.
Innovation Solution
A method and system that determine a mechanical limit interval and avoidance angles to control the opening and closing actions of the mechanical finger, using closed-loop position servo control and adjusting duty cycles to prevent mechanical collisions, thereby reducing impact damage and improving reliability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If a position switch is installed near the opening and closing positions to control the reduction motor, then the mechanical impact can be reduced, but the system complexity increases and the mechanical impact cannot be completely eliminated
Solution Approach 1:
The patent replaces the mechanical position switch system with an electronic control system. The controller calculates the mechanical limit interval based on robot pose information and controls the reduction motor to stop before reaching the mechanical limits, eliminating the need for physical position switches and reducing mechanical impact through software-based positioning.
Solution Approach 2:
The controller proactively determines the mechanical limit interval and adjusts the motor stopping position before the mechanical finger reaches the extreme positions. This preliminary action prevents mechanical impact by ensuring the motor stops with a safety margin before the mechanical limits are reached.
2Reliability
If the reduction motor is controlled to stop at mechanical limits using position switches, then some mechanical impact is reduced, but shaft breakage, motor burnout, and position switch damage still occur
Solution Approach 1:
The patent eliminates mechanical position switches and replaces them with a controller that calculates limit positions based on robot pose information. This substitution removes the fragile mechanical components prone to damage while maintaining reliable control through electronic positioning with built-in safety margins.
Solution Approach 2:
The controller uses robot pose information as feedback to dynamically calculate and adjust the mechanical limit interval. This feedback mechanism ensures the motor stops at safe positions while adapting to different operational conditions, preventing impact damage without requiring additional mechanical sensors.
3Adaptability or versatility
If the mechanical finger is allowed to reach full opening and closing positions, then the operational range is maximized, but mechanical impact and component damage increase
Solution Approach 1:
The patent introduces a safety margin parameter (mechanical limit interval) that dynamically adjusts the effective operational range. By calculating limit positions based on robot pose information and subtracting a safety margin, the system maintains adaptability while preventing mechanical impact through parameter-based position adjustment.
Data Source
AI summary
This application provides a method, an apparatus, and a system for controlling a mechanical finger, and a device. This application relates to the field of robot technologies and smart warehouse technologies. The method includes: obtaining a mechanical limit interval of the mechanical finger in response to a control instruction; determining a limit position within the mechanical limit interval and an avoidance angle corresponding to the limit position; determining, based on the limit position and the avoidance angle corresponding to the limit position, an opening/closing angle of the mechanical finger; and controlling, based on the opening/closing angle, a reduction motor to drive the mechanical finger to execute an opening action or a closing action.