公开(公告)号：US20160311110A1

公开(公告)日：2016-10-27

申请号：US14697127

申请日：2015-04-27

Applicant: HIWIN TECHNOLOGIES CORP.

Inventor： Wei-Shao CHEN ,  Kai-Hsiang HUANG ,  I-Hsiang TSENG

IPC: B25J9/16

CPC classification number: B25J9/1612 ,  G05B19/29 ,  G05B2219/42204 ,  G05B2219/42249

Abstract: An electric gripper system includes a motor driving a gripper mechanism, a sensor, and a control processing unit. The sensor is assembled onto the motor for generating a current position of the gripper mechanism. The control processing unit has a control segment, a transceiver segment, an accessible segment, and a driving segment. The control segment generates a target position according to a relative-position command value of the transceiver segment and an absolute cumulative position of the accessible segment. The control segment generates a driving datum based on a difference between the current position and the target position, and on a rotation rate of the motor. The driving segment uses the driving datum to drive the motor to move the gripper mechanism. With calculation among the relative-position command value, the absolute cumulative position, and the current position, the motor is prevented from accumulating positional deviation.

Abstract translation: 电动夹具系统包括驱动夹具机构的电机，传感器和控制处理单元。 将传感器组装到电动机上以产生夹具机构的当前位置。 控制处理单元具有控制段，收发器段，可访问段和驱动段。 控制段根据收发器段的相对位置指令值和可访问段的绝对累积位置生成目标位置。 控制段基于当前位置和目标位置之间的差异以及马达的旋转速度产生驱动基准。 驱动段使用驱动基准来驱动马达来移动夹持机构。 通过相对位置指令值，绝对累积位置和当前位置之间的计算，防止电动机累积位置偏差。