Electric motor based holding control systems and methods

• US 9,815,193 B2
• Filed: 06/18/2012
• Issued: 11/14/2017
• Est. Priority Date: 06/27/2011
• Status: Active Grant

• Current Assignee: Delaware Capital Formation Incorporated (Dover Corporation)
• Original Assignee: Delaware Capital Formation Incorporated (Dover Corporation)
• Inventors: Trujillo, Orlando, Geary, James W.
• Primary Examiner(s): Santana, Eduardo Colon
• Assistant Examiner(s): Joseph, Devon
• Application Number:
  US13/525,436
• Publication Number:
  US 20120328402A1
• Time in Patent Office: 1,975 Days
• Field of Search: 700260, 294106, 318159, 3185682, 31856822
• CPC Class Codes: B25J 9/1612 characterised by the hand, wrist, grip control

Abstract

A holding system includes a force control module configured to generate a force signal to cause a holding device to perform at least one of a hold stroke and a release stroke. The hold stroke includes transitioning a gripping element of the holding device to a first position to grip an object. The release stroke includes transitioning the gripping element to a second position to release the object. The holding device is non-backdrivable. A stall detection module is configured to (i) monitor a sensor signal received from a sensor of an electric motor assembly of the holding device and (ii) detect a first stall condition of an electric motor based on the sensor signal. A shut off module is configured to shut off current to the electric motor based on the detection of the first stall condition during or at an end of the release stroke.

Claims

1. A holding system comprising:

a force control module configured to generate a force signal to cause a holding device to perform at least one of a hold stroke and a release stroke, wherein the hold stroke includes transitioning a gripping element of the holding device to a first position to grip an object, wherein the release stroke includes transitioning the gripping element to a second position to release the object, and wherein the holding device is non-backdrivable;

a stall detection module configured to (i) monitor a sensor signal received from a sensor of an electric motor assembly of the holding device (ii) detect a first stall condition of an electric motor based on the sensor signal and (iii) detect a second stall condition of the electric motor based on the sensor signal; and

a shut off module configured to shut off current to the electric motor based on the detection of the first stall condition during or at an end of the release stroke and to shut off current to the electric motor based on the detection of the second stall condition during or at an end of the hold stroke.

2. The holding device of claim 1, further comprising a motor control module configured to transition the gripping element to the first position, wherein:

the stall detection module is configured to detect the second stall condition subsequent to the transitioning of the gripping element to the first position;

the shut off module is configured to start a counter in response to the detection of the second stall condition; and

the shut off module is configured to shut off the current to the electric motor when the counter exceeds a predetermined threshold.

3. The holding device of claim 1, further comprising a motor control module configured to transition the gripping element to the first position, wherein:

wherein the holding device is moved from a first location to a second location subsequent to gripping the object; and

the motor control module is configured to transition the gripping element from a hold state to a release state.

4. The holding device of claim 3, wherein:

the stall detection module is configured to detect the first stall condition subsequent to the transitioning of the gripping element from the hold state to the release state;

the shut off module is configured to start a counter in response to the detection of the first stall condition; and

the shut off module is configured to shut off the current to the electric motor when the counter exceeds a predetermined threshold.

5. A holding system comprising:

a force control module configured to generate a force signal to cause a holding device to perform at least one of a hold stroke and a release stroke;

a stall detection module configured to (i) monitor a sensor signal received from a sensor of an electric motor assembly and (ii) detect a stall condition of an electric motor based on the sensor signal including detecting when a leadscrew of the holding device is in a binded state and against a hard stop; and

a boosting module configured to increase current to the electric motor to a boost current level, unbind the leadscrew of the electric motor assembly, and overcome the binded state of the leadscrew, wherein the boost current level is greater than an applied current level, wherein the applied current level is used to transition a gripping element of the holding device between a hold state and a release state, and

wherein the boosting module, when boosting the current, is configured to adjust the force signal based on a direction of travel of the electric motor and the sensor signal.

6. The holding system of claim 5, wherein the holding device is backdrivable.

7. The holding system of claim 5, wherein the holding device is non-backdrivable.

8. The holding system of claim 5, wherein the boosting module is configured to boost the current of the electric motor for a predetermined period.

9. The holding system of claim 8, wherein the force control module is configured to reduce the current from the boost current level to the applied current level when the predetermined period has expired.

10. A holding system comprising:

a force control module configured to generate a force signal to cause a holding device to perform a release stroke, wherein a gripping element of the holding device is actuated to release an object when the release stroke is performed;

a stall detection module configured to (i) monitor a sensor signal received from a sensor of an electric motor assembly and (ii) detect a stall condition of an electric motor based on the sensor signal;

an end-of-travel module configured to move the gripping element of the holding device away from a hard stop a predetermined distance including adjusting the force signal and moving the gripping element from a first position to a second position based on the detection of the stall condition; and

a motor control module configured to shut off power to the electric motor when the gripping element is in the second position.

11. The holding system of claim 10, wherein the gripping element is transitioned from a closed state to an open state during the release stroke.

12. The holding system of claim 10, wherein the gripping element is transitioned from an open state to a closed state during the release stroke.

13. The holding system of claim 10, further comprising a motor control module configured to maintain the gripping element the predetermined distance from the hard stop until the gripping element is moved to grab another object.

14. The holding system of claim 10, wherein the motor control module is further configured to turn on the electric motor to move the gripping element from the second position to a third position to grab another object.

15. A holding system comprising:

a force control module configured to generate a first force signal to cause a holding device to perform at least one of a hold stroke and a release stroke including;

operating in an applied torque mode and a hold mode;

providing a first current level during the applied torque mode to open or close gripping elements of the holding device; and

providing a second current level during the hold mode to hold an object; and

a stall detection module configured to (i) monitor a sensor signal received from a sensor of an electric motor assembly and (ii) detect a stall condition of an electric motor based on the sensor signal at an end of the hold stroke or the release stroke,

wherein the force control module is configured to adjust the force signal to reduce current to the electric motor from the first current level to the second current level based on detection of the stall condition and while the holding device is holding an object, wherein the second current level is greater than a minimum current level for holding the object.

16. The holding system of claim 15, wherein the force control module is further configured to:

operate in a move mode;

provide the first current level during the move mode to open or close gripping elements of the holding device;

provide the second current level during the hold mode to hold the object; and

provide a third current level to the electric motor during the applied torque mode to compress the object or a second object,

wherein the third current level is greater than the first current level and the second current level.

17. The holding system of claim 16, wherein:

the first current level corresponds to a 30% torque output level of the electric motor;

the second current level corresponds to a 50-100% torque output level of the electric motor; and

the third current level corresponds to a 40% torque output level of the electric motor.

18. The holding system of claim 15, further comprising a boosting module configured to boost the current to the electric motor to a third current level to unbind a component of the holding device and move the component away from a hard stop, wherein the third current level is greater than the first current level.

19. The holding system of claim 18, wherein:

the third current level corresponds to a 100% torque output level of the electric motor;

the second current level corresponds to an 80% torque output level of the electric motor; and

the third current level corresponds to a 40% torque output level of the electric motor.

20. The holding system of claim 15, wherein the holding device is backdrivable.

21. The holding system of claim 15, wherein the holding device is non-backdrivable.