阅读说明：本技术 夹爪装置及其控制方法、移动设备 (Clamping jaw device, control method thereof and mobile equipment ) 是由 陈旭 刘海旗 陈鸿滨 于 2019-07-19 设计创作，主要内容包括：一种夹爪装置(100)及其控制方法、移动设备。夹爪装置(100)包括夹爪机构(10)、控制器(20)、驱动机构(30)和检测机构(40)。控制器(20)包括第一接口(22)和第二接口(24)。驱动机构(30)包括第一电机(32)和第二电机(34)。控制方法包括：控制第一接口(22)输出用于驱动第一电机(32)和第二电机(34)中的一个运行的第一控制信号,第二接口(24)输出用于驱动第一电机(32)和第二电机(34)中的另一个运行的第二控制信号；在输出第一控制信号或第二控制信号的情况下,获取检测机构(40)的检测信号；根据检测信号,确定第一接口(22)输出用于驱动第一电机(32)的第一控制信号,第二接口(24)输出用于驱动第二电机(34)的第二控制信号；或者,确定第一接口(22)输出用于驱动第二电机(34)的第一控制信号,第二接口(24)输出用于驱动第一电机(32)的第二控制信号。(A clamping jaw device (100), a control method thereof and mobile equipment. The clamping jaw device (100) comprises a clamping jaw mechanism (10), a controller (20), a driving mechanism (30) and a detection mechanism (40). The controller (20) includes a first interface (22) and a second interface (24). The drive mechanism (30) includes a first motor (32) and a second motor (34). The control method comprises the following steps: the first interface (22) is controlled to output a first control signal for driving one of the first motor (32) and the second motor (34) to operate, and the second interface (24) outputs a second control signal for driving the other one of the first motor (32) and the second motor (34) to operate; acquiring a detection signal of the detection mechanism (40) under the condition that the first control signal or the second control signal is output; determining, based on the detection signal, that the first interface (22) outputs a first control signal for driving the first motor (32), and that the second interface (24) outputs a second control signal for driving the second motor (34); alternatively, it is determined that the first interface (22) outputs a first control signal for driving the second motor (34) and the second interface (24) outputs a second control signal for driving the first motor (32).)

1. A control method for a clamping jaw device is characterized in that the clamping jaw device comprises a clamping jaw mechanism, a controller, a driving mechanism and a detection mechanism, wherein the controller is connected with the driving mechanism and the detection mechanism, the controller comprises a first interface and a second interface, the driving mechanism comprises a first motor and a second motor, the first motor is used for driving a jaw of the clamping jaw mechanism to open and close, the second motor is used for driving the clamping jaw mechanism to move, and the detection mechanism is used for detecting the position of the movement of the clamping jaw mechanism; wherein the content of the first and second substances,

the control method comprises the following steps:

the first interface is controlled to output a first control signal for driving one of the first motor and the second motor to operate, and the second interface outputs a second control signal for driving the other of the first motor and the second motor to operate;

acquiring a detection signal of the detection mechanism under the condition that the first control signal or the second control signal is output;

according to the detection signal, determining that the first interface outputs the first control signal for driving the first motor, and the second interface outputs the second control signal for driving the second motor; or, it is determined that the first interface outputs the first control signal for driving the second motor, and the second interface outputs the second control signal for driving the first motor.

2. The control method according to claim 1, characterized by further comprising:

and under the condition that the detection signal is not acquired within the preset duration of respectively outputting the first control signal and the second control signal, determining that the clamping jaw device has a fault.

3. The control method according to claim 1, characterized by further comprising:

outputting the first control signal and the second control signal in sequence;

acquiring the detection signal and acquiring locked rotor signals of the first motor and the second motor;

and determining whether the clamping jaw device has a fault according to the detection signal and/or the locked rotor signal.

4. The control method according to claim 3, wherein the first control signal includes a first forward signal and a first reverse signal, the outputting the first control signal and the second control signal in order and the acquiring the detection signal, and the acquiring the stall signal of the first motor and the second motor include:

outputting the first forward signal, and judging whether the detection signal or the locked rotor signal is acquired;

outputting the first reverse signal when the detection signal or the locked rotor signal is acquired or the detection signal or the locked rotor signal is not acquired within a preset time length;

under the condition of outputting the first reverse signal, judging whether the detection signal or the locked rotor signal is acquired;

and under the condition that the detection signal or the locked rotor signal is acquired or the detection signal or the locked rotor signal is not acquired within the preset time, stopping outputting the first reverse signal.

5. The control method according to claim 3, wherein the second control signal includes a second forward signal and a second reverse signal, the outputting the first control signal and the second control signal in order and the acquiring the detection signal, and the acquiring the stall signal of the first motor and the second motor include:

outputting the second forward signal, and judging whether the detection signal or the locked rotor signal is acquired;

outputting the second reverse signal when the detection signal or the locked rotor signal is acquired or the detection signal or the locked rotor signal is not acquired within a preset time length;

under the condition of outputting the second reverse signal, judging whether the detection signal or the locked rotor signal is acquired;

and under the condition that the detection signal or the locked rotor signal is acquired or the detection signal or the locked rotor signal is not acquired within the preset time, stopping outputting the second reverse signal.

6. A control method according to claim 3, wherein said determining whether the jaw arrangement is malfunctioning based on the detection signal and/or the stall signal comprises:

and under the condition that the locked-rotor signal is not acquired within the preset time period of outputting the first control signal and/or the second control signal, determining that the clamping jaw device has a fault.

7. The control method according to claim 6, wherein said determining whether the jaw arrangement is malfunctioning based on the detection signal and/or the stall signal comprises:

under the condition that the locked-rotor signal is obtained within the preset time length of outputting the first control signal and the second control signal, judging whether the detection signal is obtained within the preset time length of outputting the first control signal and/or the second control signal;

and under the condition that the detection signal is not acquired within the preset time length when the first control signal and the second control signal are output, determining that the clamping jaw device has a fault.

8. The control method according to claim 7, characterized by comprising:

determining that the first interface outputs the first control signal for driving the second motor and the second interface outputs the second control signal for driving the first motor when the detection signal is acquired within the preset duration of outputting the first control signal;

and under the condition that the detection signal is acquired within the preset time period during which the second control signal is output, determining that the first interface outputs the first control signal for driving the first motor, and the second interface outputs the second control signal for driving the second motor.

9. A control method according to claim 3, wherein the jaw apparatus comprises a first motor sensor for acquiring an electric signal of the first motor and a second motor sensor for acquiring an electric signal of the second motor, the control method comprising:

and acquiring the locked-rotor signal according to the electric signal of the first motor and the electric signal of the second motor.

10. The control method according to any one of claims 2 to 9, characterized by further comprising:

and generating prompt information under the condition that the clamping jaw device is determined to have a fault, wherein the prompt information is used for prompting the fault.

11. The control method according to claim 10, wherein the prompt message includes at least one of a voice message, a text message, and a screen message.

12. A clamping jaw device is characterized by comprising a clamping jaw mechanism, a controller, a driving mechanism and a detection mechanism, wherein the controller is connected with the driving mechanism and the detection mechanism, the controller comprises a first interface and a second interface, the driving mechanism comprises a first motor and a second motor, the first motor is used for driving a jaw of the clamping jaw mechanism to open and close, the second motor is used for driving the clamping jaw mechanism to move, the detection mechanism is used for detecting the position of the movement of the clamping jaw mechanism, the controller is used for controlling the first interface to output a first control signal for driving one of the first motor and the second motor to operate, the second interface outputs a second control signal for driving the other one of the first motor and the second motor to operate, and under the condition that the first control signal or the second control signal is output, acquiring a detection signal of the detection mechanism, and determining that the first interface outputs the first control signal for driving the first motor and the second interface outputs the second control signal for driving the second motor according to the detection signal; or, it is determined that the first interface outputs the first control signal for driving the second motor, and the second interface outputs the second control signal for driving the first motor.

13. The jaw apparatus of claim 12, wherein said controller is configured to determine that said jaw apparatus is malfunctioning if said detection signal is not acquired within a preset time period of outputting said first control signal and said second control signal, respectively.

14. The jaw apparatus of claim 12, wherein said controller is configured to output said first control signal and said second control signal in sequence, and to acquire said detection signal, and to acquire a stall signal for said first motor and said second motor, and to determine whether said jaw apparatus is malfunctioning based on said detection signal and/or said stall signal.

15. The jaw apparatus of claim 14, wherein the first control signal comprises a first forward signal and a first reverse signal, and wherein the controller is configured to output the first forward signal, determine whether the detection signal or the stall signal is acquired, and output the first reverse signal if the detection signal or the stall signal is acquired or the detection signal or the stall signal is not acquired within a preset time period, and determine whether the detection signal or the stall signal is acquired if the first reverse signal is output, and stop outputting the first reverse signal if the detection signal or the stall signal is acquired or the detection signal or the stall signal is not acquired within the preset time period.

16. The jaw apparatus of claim 14, wherein the second control signal comprises a second forward signal and a second reverse signal, and wherein the controller is configured to output the second forward signal, determine whether the detection signal or the stall signal is acquired, and output the second reverse signal if the detection signal or the stall signal is acquired or the detection signal or the stall signal is not acquired within a preset time period, and determine whether the detection signal or the stall signal is acquired if the second reverse signal is output, and stop outputting the second reverse signal if the detection signal or the stall signal is acquired or the detection signal or the stall signal is not acquired within the preset time period.

17. The jaw apparatus of claim 14, wherein said controller is configured to determine that said jaw apparatus is malfunctioning if said locked-rotor signal is not acquired within said preset time period of outputting said first control signal and/or said second control signal.

18. The jaw apparatus of claim 17, wherein said controller is configured to determine whether said detection signal is acquired within said preset duration of outputting said first control signal and/or said second control signal if said locked-rotor signal is acquired within said preset duration of outputting said first control signal and said second control signal, and to determine that said jaw apparatus is malfunctioning if said detection signal is not acquired within said preset duration of outputting said first control signal and said second control signal.

19. The jaw apparatus as claimed in claim 18, wherein said controller is configured to determine that said first interface outputs said first control signal for driving said second motor, and said second interface outputs said second control signal for driving said first motor, in a case where said detection signal is acquired within said preset period of time in which said first control signal is output, and to determine that said first interface outputs said first control signal for driving said first motor, and said second interface outputs said second control signal for driving said second motor, in a case where said detection signal is acquired within said preset period of time in which said second control signal is output.

20. The jaw apparatus as claimed in claim 14, wherein said jaw apparatus comprises a first motor sensor for acquiring electrical signals of said first motor and a second motor sensor for acquiring electrical signals of said second motor, and said controller is configured to acquire said locked rotor signal based on said electrical signals of said first motor and said second motor.

21. A jaw apparatus as claimed in any of claims 13 to 20, wherein said jaw apparatus comprises a warning alarm for generating a warning message in the event of a determination of a fault in said jaw apparatus, said warning message being indicative of said fault.

22. The jaw apparatus of claim 21, wherein said message comprises at least one of a voice message, a text message, and a visual message.

23. A mobile apparatus, comprising a mobile platform and a jaw apparatus as claimed in any one of claims 12 to 22, the jaw apparatus being provided on the mobile platform.

Technical Field

The application relates to the technical field of control, in particular to a clamping jaw device, a control method of the clamping jaw device and mobile equipment.

Background

Disclosure of Invention

The embodiment of the application provides a clamping jaw device, a control method thereof and mobile equipment.

The control method is used for the clamping jaw device, the clamping jaw device comprises a clamping jaw mechanism, a controller, a driving mechanism and a detection mechanism, the controller is connected with the driving mechanism and the detection mechanism, the controller comprises a first interface and a second interface, the driving mechanism comprises a first motor and a second motor, the first motor is used for driving a jaw of the clamping jaw mechanism to open and close, the second motor is used for driving the clamping jaw mechanism to move, and the detection mechanism is used for detecting the position where the clamping jaw mechanism moves; wherein the content of the first and second substances,

the control method comprises the following steps:

the first interface is controlled to output a first control signal for driving one of the first motor and the second motor to operate, and the second interface outputs a second control signal for driving the other of the first motor and the second motor to operate;

acquiring a detection signal of the detection mechanism under the condition that the first control signal or the second control signal is output;

according to the detection signal, determining that the first interface outputs the first control signal for driving the first motor, and the second interface outputs the second control signal for driving the second motor; or, it is determined that the first interface outputs the first control signal for driving the second motor, and the second interface outputs the second control signal for driving the first motor.

In the control method of the embodiment of the application, the channel interface connected with the first motor and the second motor can be judged by acquiring the detection signal of the detection mechanism, so that corresponding control signals can be automatically configured to respectively drive and control the motors corresponding to the channel interfaces, and the normal work of the clamping jaw device is ensured.

The clamping jaw device of the embodiment of the application comprises a clamping jaw mechanism, a controller, a driving mechanism and a detection mechanism, wherein the controller is connected with the driving mechanism and the detection mechanism, the controller comprises a first interface and a second interface, the driving mechanism comprises a first motor and a second motor, the first motor is used for driving a jaw of the clamping jaw mechanism to open and close, the second motor is used for driving the clamping jaw mechanism to move, the detection mechanism is used for detecting the position of the clamping jaw mechanism to move, the controller is used for controlling the first interface to output a first control signal for driving one of the first motor and the second motor to operate, the second interface to output a second control signal for driving the other of the first motor and the second motor to operate, and the controller is used for outputting the first control signal or the second control signal, acquiring a detection signal of the detection mechanism, and determining that the first interface outputs the first control signal for driving the first motor and the second interface outputs the second control signal for driving the second motor according to the detection signal; or, it is determined that the first interface outputs the first control signal for driving the second motor, and the second interface outputs the second control signal for driving the first motor.

In the clamping jaw device of the embodiment of the application, the channel interface connected with the first motor and the second motor can be judged by acquiring the detection signal of the detection mechanism, so that the corresponding control signal can be automatically configured to respectively drive and control the motors corresponding to the channel interfaces, and the normal work of the clamping jaw device is ensured.

The mobile equipment of this application embodiment includes moving platform and above-mentioned embodiment the clamping jaw device, the clamping jaw device sets up moving platform.

In the mobile device of the embodiment of the application, the channel interface connected with the first motor and the second motor can be judged by acquiring the detection signal of the detection mechanism, so that the corresponding control signal can be automatically configured to respectively drive and control the motors corresponding to the channel interfaces, and the normal work of the clamping jaw device is ensured.

Additional aspects and advantages of embodiments of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of embodiments of the present application.

Drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic flow chart of a control method for a jaw apparatus according to an embodiment of the present application;

FIG. 2a is a schematic diagram of a jaw apparatus according to an embodiment of the present application;

FIG. 2b is a schematic perspective view of a drive mechanism according to an embodiment of the present application;

FIG. 2c is another perspective view of a drive mechanism according to an embodiment of the present application;

FIG. 2d is a schematic plan view of a drive mechanism according to an embodiment of the present application;

FIG. 2e is a schematic plan view of another drive mechanism according to an embodiment of the present application;

FIG. 3 is a partially modular schematic view of a jaw apparatus according to an embodiment of the present application;

fig. 4 is another schematic flow chart of a control method for a jaw apparatus according to an embodiment of the present application;

fig. 5 is a further schematic flow chart of a control method for a jaw apparatus according to an embodiment of the present application;

fig. 6 is another flow chart of the control method for the gripper apparatus according to the embodiment of the present application.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and are only for the purpose of explaining the present application and are not to be construed as limiting the present application.

In the description of the present application, it is to be understood that the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.

The following disclosure provides many different embodiments or examples for implementing different features of the application. In order to simplify the disclosure of the present application, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and are only for the purpose of explaining the present application and are not to be construed as limiting the present application.

Referring to fig. 1 to 3, a control method according to an embodiment of the present application is applied to a clamping jaw apparatus 100. The gripper apparatus 100 includes a gripper mechanism 10, a controller 20, a driving mechanism 30, and a detecting mechanism 40. The controller 20 is connected to the driving mechanism 30 and the detecting mechanism 40. The controller 20 includes a first interface 22 and a second interface 24. The drive mechanism 30 includes a first motor 32 and a second motor 34. The first motor 32 is used for driving the claw 12 of the clamping jaw mechanism 10 to open and close, and the second motor 34 is used for driving the clamping jaw mechanism 10 to move. The detection mechanism 40 is used to detect the position at which the gripper mechanism 10 is moved.

It is understood that the driving mechanism 30 of the gripper apparatus 100 can drive the gripper mechanism 10 to perform a gripping action, an raising action, or a lowering action. In some embodiments, the jaw apparatus 100 is schematically illustrated in fig. 2 a-2 e. Referring to fig. 2a, the clamping jaw mechanism 10 includes a first clamping jaw 122 and a second clamping jaw 124. In some embodiments, the driving mechanism 30 can move the first jaw 122 and the second jaw 124 to perform the gripping action. Specifically, the grasping action includes the process of the first jaw 122 and the second jaw 124 from closing to opening and/or from opening to closing.

In some embodiments, the driving mechanism 30 may drive the first clamping jaw 122 and the second clamping jaw 124 to be lifted or lowered, which may be illustrated in fig. 2b, fig. 2c, and fig. 2d as examples. Referring to fig. 2b, 2c and 2d, the driving mechanism 30 includes two connecting members 310 and a power mechanism 320, the two connecting members 310 are respectively disposed at two sides of the power mechanism 320, the connecting members 310 include rack portions 312, and the rack portions 312 are connected to the power mechanism 320. The power mechanism 320 includes a second motor 34 and a transmission assembly 322. The second motor 34 includes a motor shaft 342, and the transmission assembly 322 includes a worm 3222 disposed on the motor shaft 342 and a gear assembly 3224 coupled to the worm 3222 and the rack portion 312, respectively. The number of the gear assemblies 3224 is two, two gear assemblies 3224 are respectively located at two sides of the worm 3222, and each gear assembly 3224 is respectively connected with the worm 3222 and the connecting member 310. Here, as exemplified by the gear assemblies 3224 on one side of the worm 3222, each gear assembly 3224 includes a first gear 32242 and a second gear 32244 which are coaxially disposed and fixedly connected. The first gear 32242 is connected to the worm 3222, and the second gear 32244 is connected to the rack portion 312.

It can be understood that the driving mechanism 30 is driven by a worm gear transmission and gear rack transmission combination mode, so that the driving mechanism 30 has transmission self-locking performance, the second motor 34 can be effectively protected when a heavy object is lifted in work, the performance requirement on locked-rotor protection of the second motor 34 is reduced, the energy consumption is reduced, the size of the power mechanism 320 can be reduced, and the application range of the driving mechanism 30 is expanded. Meanwhile, the symmetrical transmission chains are arranged on the two sides of the worm 3222, so that power can be symmetrically transmitted to the two sides during power output, and the transmission chains and the connecting piece 320 are uniformly stressed, thereby ensuring the stability and reliability of the up-and-down lifting of the driving mechanism 30.

In some embodiments, the drive mechanism 30 includes a drive portion that can move the first jaw 122 and the second jaw 124 to either an open drop or closed grasping operation. The driving portion may be any driving structure in the related art. In one embodiment, the driving part may be a cylinder. Wherein the piston rod of the cylinder is along a direction parallel to the straight line for arranging the first clamping jaw 122 and the second clamping jaw 124, and is fixed with the first clamping jaw 122. After the cylinder is started, the piston mounted in the cylinder barrel of the cylinder is driven by gas to reciprocate along the axis of the cylinder barrel in the cylinder barrel, so that the piston rod connected with the piston also reciprocates along the axis of the cylinder barrel, the first clamping jaw 122 fixed with the piston rod is driven to move along the linear direction, and the first clamping jaw 122 and the second clamping jaw 124 are matched to clamp or put down an object.

In another embodiment, the driving part may be the first motor 32, and the first motor 32 may be a linear motor. Wherein, the motor shaft of the first motor 32 is parallel to the linear direction of the first clamping jaw 122 and the second clamping jaw 124, and is fixed with the first clamping jaw 122. When the linear motor is started, the stator of the linear motor can generate an excitation magnetic field to drive the rotor to rotate, and the rotor and the motor shaft are in a threaded fit structure, so that the motor shaft is driven to do linear motion, the first clamping jaw 122 is driven to move along the linear direction, and the first clamping jaw 122 and the second clamping jaw 124 are matched to clamp or put down an object.

In other embodiments, the driving mechanism 30 may also include a lead screw and a first motor 32, which is specifically illustrated in fig. 2e as an example. Referring to fig. 2e, the first jaw 122 includes a first clamp arm 1222 and a second clamp arm 1224, and the second jaw 124 includes a third clamp arm 1242 and a fourth clamp arm 1244. The screw 362 of the lead screw is in transmission connection with the motor shaft of the first motor 32, and a nut 364 arranged on the lead screw is fixed with the first clamping jaw 122. During specific assembly, the screw 362 of the lead screw can be sleeved and fixed on the motor shaft of the first motor 32, so as to realize transmission connection between the screw 362 and the motor shaft of the first motor 32. When the first motor 32 is started, the motor shaft of the first motor 32 drives the screw 362 in transmission connection therewith to rotate, and then drives the nut 364 mounted on the screw 362 to move linearly along the axial direction of the screw 362, so as to drive the first clamping jaw 122 fixed with the nut 364 to move linearly. By controlling the motor to rotate forward and backward, the first clamping jaw 122 can be conveniently driven by the nut 364 to reciprocate along the axis of the screw 362 so as to clamp or put down an object.

Referring to fig. 1, a control method according to an embodiment of the present application includes:

step S12: the first interface 22 is controlled to output a first control signal for driving one of the first motor 32 and the second motor 34 to operate, and the second interface 24 is controlled to output a second control signal for driving the other of the first motor 32 and the second motor 34 to operate;

step S14: acquiring a detection signal of the detection mechanism 40 in a case where the first control signal or the second control signal is output;

step S16: determining that the first interface 22 outputs a first control signal for driving the first motor 32 and the second interface 24 outputs a second control signal for driving the second motor 34 according to the detection signal; alternatively, it is determined that the first interface 22 outputs a first control signal for driving the second motor 34 and the second interface 24 outputs a second control signal for driving the first motor 32.

In the control method according to the embodiment of the present application, the channel interface connected to the first motor 32 and the second motor 34 may be determined by obtaining the detection signal of the detection mechanism 40, so that corresponding control signals may be automatically configured to respectively drive and control the motors corresponding to the channel interfaces, thereby ensuring the normal operation of the clamping jaw apparatus 100.

The control method of the embodiment of the present application can be implemented by the gripper apparatus 100 of the embodiment of the present application, and specifically, by the controller 20 of the gripper apparatus 100.

It will be appreciated that the jaw mechanism 10 of the jaw apparatus 100 may be movable in multiple degrees of freedom. The first motor 32 and the second motor 34 drive the jaw mechanism 10 to move in different degrees of freedom, respectively. The first motor 32 is used for driving the claw 12 of the clamping jaw mechanism 10 to open and close, the second motor 34 is used for driving the clamping jaw mechanism 10 to move, and the detection mechanism 40 is used for detecting the position of the clamping jaw mechanism 10 to move, namely, the detection mechanism 40 is used for detecting the position of the second motor 34 driving the clamping jaw mechanism 10 to move.

In the illustrated jaw apparatus 100, the jaw mechanism 10 is movable in both horizontal and vertical degrees of freedom. The first motor 32 drives the claw 12 of the gripper mechanism 10 to open and close, which means that the first motor 32 drives the claw 12 of the gripper mechanism 10 to open and close in a horizontal degree of freedom, that is, the first motor 32 drives the gripper mechanism 10 to perform a gripping action. The second motor 34 drives the jaw mechanism 10 to move, which means that the second motor 34 drives the jaw mechanism 10 to move up and down in the vertical degree of freedom, that is, the second motor 34 drives the jaw mechanism 10 to lift or lower. The detection mechanism 40 may include a limit switch. The limit switch is installed in the vertical direction of the clamping jaw device 100, and when the second motor 34 drives the clamping jaw mechanism 10 to vertically move up and down, the clamping jaw mechanism 10 can trigger the limit switch, so that the state of the limit switch is changed to enable the detection mechanism 40 to output a detection signal. In one embodiment, the detecting mechanism 40 includes two limit switches, which are respectively disposed at the upper and lower ends of the clamping jaw device 100 in the vertical direction, or other suitable positions, such as positions near the upper and lower ends, or an intermediate position. In addition, the number of limit switches is merely an example, and is not limited herein.

Two situations may occur when connecting the controller 20 to the drive mechanism 30. The first case is: the first interface 22 is connected to a first motor 32 and the second interface 24 is connected to a second motor 34. The second case is: the first interface 22 is connected to the second motor 34 and the second interface 24 is connected to the first motor 32. Generally, the gripper apparatus 100 is controlled by the upper computer 200, and the upper computer 200 may send a manipulation command to the controller 20 of the gripper apparatus 100. The controller 20 comprises a control unit 26 and a first interface 22 and a second interface 24 connected to the control unit 26. The control unit 26 is configured to receive a manipulation instruction from the upper computer 200 and control the first interface 22 to output a first control signal according to the manipulation instruction, and the second interface 24 outputs a second control signal. For example, the upper computer 200 may send a first stick amount instruction to cause the control unit 26 to control the first interface 22 to output a first control signal, and send a second stick amount instruction to cause the control unit 26 to control the second interface 24 to output a second control signal. The control unit 26 may include an mcu (microcontroller unit).

In the case where the first control signal is output, the detection signal of the detection means 40 is acquired, and in the case where the second control signal is output, the detection signal of the detection means 40 is also acquired. If the first interface 22 is connected with the first motor 32, the second interface 24 is connected with the second motor 34; the detection signal cannot be acquired in the case where the first control signal is output, and the detection signal can be acquired in the case where the second control signal is output. If the first interface 22 is connected with the second motor 34, the second interface 24 is connected with the first motor 32; the detection signal can be acquired in the case where the first control signal is output, and the detection signal cannot be acquired in the case where the second control signal is output.

Therefore, the channel interface where the first motor 32 and the second motor 34 are connected can be determined by whether the detection signal of the detection mechanism 40 can be obtained, and then the mapping between the first lever amount command (the first control signal) and the second lever amount command (the second control signal) and the first motor 32 and the second motor 34 is established to complete the channel adaptation. Therefore, the control of the upper computer 200 on the clamping jaw device 100 can be compatible with two conditions that the controller 20 is connected with the driving mechanism 30, and corresponding control signals can be automatically configured to respectively drive and control the motors corresponding to the channel interfaces, so that the normal work of the clamping jaw device 100 is ensured, and the requirements of a user on DIY or blind connection are met. The clamping jaw device 100 can be assembled on line without disassembling the structure.

In some embodiments, the control method further comprises: and under the condition that the detection signal is not acquired within the preset time length of respectively outputting the first control signal and the second control signal, determining that the clamping jaw device 100 has a fault.

It is understood that the gripper apparatus 100 is provided with the detection mechanism 40, and in the illustrated embodiment, the detection mechanism 40 includes two limit switches disposed in the vertical direction of the gripper apparatus 100, for example, the two limit switches are disposed at the upper and lower ends of the gripper apparatus 100 in the vertical direction, and the second motor 34 drives the gripper mechanism 10 to move up and down in the vertical degree of freedom. When the clamping jaw device 100 is in a normal working state, when the second motor 34 drives the clamping jaw mechanism 10 to vertically move up and down, the limit switches at the upper end and the lower end are triggered, so that the detection mechanism 40 outputs two detection signals. Therefore, in the case where the first control signal is used to drive the second motor 34, if the detection signal is not acquired within the preset time period during which the first control signal is output, it can be determined that the gripper apparatus 100 is malfunctioning. In the case where the second control signal is used to drive the second motor 34, if the detection signal is not acquired within the preset time period during which the second control signal is output, it may also be determined that the gripper apparatus 100 is malfunctioning. The preset time period may be 3 seconds to 5 seconds, and preferably, the preset time period is 4 seconds. Of course, the preset time period may be other time periods, and is not limited in particular.

It should be noted that the malfunction of the clamping jaw device 100 refers to structural and/or circuit damage, such as structural jamming, structural dropping, gear jamming, circuit disconnection, limit switch damage, and the like.

Referring to fig. 4, in some embodiments, the control method includes:

step S22: outputting a first control signal and a second control signal in sequence;

step S23: acquiring detection signals and acquiring locked rotor signals of the first motor 32 and the second motor 34;

step S24: whether the jaw apparatus 100 is malfunctioning is determined based on the detection signal and/or the locked rotor signal.

In some embodiments, step S24 includes: and under the condition that the locked rotor signal is not acquired within the preset time period of outputting the first control signal and/or the second control signal, determining that the clamping jaw device 100 has a fault.

It can be understood that, under the normal working condition of the clamping jaw device 100, the first motor 32 can drive the first clamping jaw 122 and the second clamping jaw 124 to perform an open object-down operation or a closed clamping operation in the horizontal direction; the second motor 34 can drive the first jaw 122 and the second jaw 124 to ascend or descend in the vertical direction. When the first jaw 122 and the second jaw 124 move to the extreme positions, since the first motor 32 or the second motor 34 is locked by an external force, the motor is locked, and thus it is possible to determine whether the jaw apparatus 100 has a failure by determining whether the lock signal is acquired.

Specifically, the jaw apparatus 100 includes a first motor sensor (not shown) and a second motor sensor (not shown). The first motor sensor is used to acquire an electrical signal of the first motor 32 and the second motor sensor is used to acquire an electrical signal of the second motor 34. The control method comprises the following steps: the locked-rotor signal is obtained from the electric signal of the first motor 32 and the electric signal of the second motor 34. In this way, the locked-rotor signal of the first motor 32 is obtained from the electrical signal of the first motor 32, and the locked-rotor signal of the second motor 34 is obtained from the electrical signal of the second motor 34. When the motor is locked, the current of the motor can reach 4-7 times of the rated current of the motor, so that the electric signal can be a current signal, and whether the motor is locked or not is judged according to the magnitude of the current signal so as to obtain a locked signal. Correspondingly, the motor sensor is a current sensor.

In one embodiment, when the structure of the first jaw 122 or the second jaw 124 is damaged, such as when the threads of the threaded connection are not engaged, such that the threaded connection cannot be tightened, the stall signal is not triggered, thereby determining that the jaw apparatus 100 is malfunctioning. Of course, the malfunction of the clamping jaw device 100 may also be structural and/or line damage, such as structural jamming, structural dropping, gear jamming, line disconnection, limit switch damage, etc., and is not limited herein.

Further, step S24 includes: under the condition that the locked-rotor signal is obtained within the preset time length of outputting the first control signal and the second control signal, judging whether a detection signal is obtained within the preset time length of outputting the first control signal and/or the second control signal;

and under the condition that the detection signal is not acquired within the preset time length of outputting the first control signal and the second control signal, determining that the clamping jaw device 100 has a fault.

It can be understood that when the locked-rotor signal is acquired within the preset time period during which the first control signal and the second control signal are output, whether the clamping jaw device 100 is in a fault or not is further determined by determining whether the detection signal is acquired or not. When the detection signal is not acquired within the preset duration of outputting the first control signal, and the detection signal is not acquired within the preset duration of outputting the second control signal, it may be determined that the jaw apparatus 100 has failed.

In one embodiment, when the detection signal is acquired at least once, the detection signal may be further used to determine the channel in which the jaw apparatus 100 is malfunctioning.

When the detection signal is obtained within the preset time period for outputting the first control signal or the detection signal is obtained within the preset time period for outputting the second control signal, the channel interface for connecting the first motor 32 and the second motor 34 can be judged through the detection signal, so as to complete channel adaptation. Specifically, when the detection signal is acquired within a preset time period during which the first control signal is output, it is determined that the first interface 22 outputs a first control signal for driving the second motor 34, and the second interface 24 outputs a second control signal for driving the first motor 32; when the detection signal is acquired within the preset time period during which the second control signal is output, it is determined that the first interface 22 outputs the first control signal for driving the first motor 32, and the second interface 24 outputs the second control signal for driving the second motor 34.

In some embodiments, referring to fig. 5, the first control signal includes a first forward signal and a first backward signal. Step S22 includes:

step S222: outputting a first forward signal, and judging whether a detection signal or a locked rotor signal is acquired;

step S224: under the condition that a detection signal or a locked rotor signal is acquired or the detection signal or the locked rotor signal is not acquired within a preset time length, outputting a first reverse signal;

step S226: under the condition of outputting the first reverse signal, judging whether a detection signal or a locked rotor signal is acquired;

step S228: and under the condition that the detection signal or the locked rotor signal is acquired or the detection signal or the locked rotor signal is not acquired within the preset time, stopping outputting the first reverse signal.

Referring to fig. 6, the second control signal includes a second forward signal and a second backward signal. Step S22 includes:

step S221: outputting a second forward signal, and judging whether a detection signal or a locked rotor signal is acquired;

step S223: outputting a second reverse signal under the condition that the detection signal or the locked rotor signal is obtained or the detection signal or the locked rotor signal is not obtained within a preset time length;

step S225: under the condition of outputting a second reverse signal, judging whether a detection signal or a locked rotor signal is acquired;

step S227: and under the condition that the detection signal or the locked rotor signal is acquired or the detection signal or the locked rotor signal is not acquired within the preset time, stopping outputting the second reverse signal.

As such, in the case where the first control signal is used to drive the first motor 32 and the second control signal is used to drive the second motor 34, the first forward signal is used to drive the jaws 12 of the jaw mechanism 10 to open or close, and correspondingly, the first reverse signal is used to drive the jaws 12 of the jaw mechanism 10 to close or open, so as to obtain the locked rotor signal of the first motor 32; the second forward signal is used to drive the gripper mechanism 10 to move vertically upward or downward, and correspondingly, the second reverse signal is used to drive the gripper mechanism 10 to move vertically downward or upward, so as to obtain the detection signal and the locked-rotor signal of the second motor 34. The first control signal is used for driving the second motor 34, and the situation that the second control signal is used for driving the first motor 32 is similar to the situation that the first control signal is used for driving the first motor 32 and the second control signal is used for driving the second motor 34, and thus the description is omitted here.

When the first control signal includes a first forward signal and a first reverse signal, and the second control signal includes a second forward signal and a second reverse signal, signal data, which may include a locked rotor signal and a detection signal, output by the four sets of signals respectively is acquired, and further, the signal data output by the four sets of signals correspondingly is judged to determine whether the clamping jaw device 100 has a fault. Specifically, step S24 includes: under the condition that the locked rotor signal is not acquired within the preset time period for outputting the first forward signal and the first reverse signal and the locked rotor signal is not acquired within the preset time period for outputting the second forward signal and the second reverse signal, it is determined that the jaw device 100 has a fault.

That is, when no locked-rotor signal is acquired within a preset time period during which the first forward signal, the first reverse signal, the second forward signal, and the second reverse signal are output, it may be determined that the jaw apparatus 100 is in a fault.

Further, step S24 includes:

under the condition that locked rotor signals are obtained within the preset time length of outputting the first forward signal and the first reverse signal, judging whether detection signals are obtained within the preset time length of outputting the first forward signal and/or the first reverse signal;

under the condition that the locked-rotor signal is acquired within the preset time length of outputting the second forward signal and the second reverse signal, judging whether a detection signal is acquired within the preset time length of outputting the second forward signal and/or the second reverse signal;

and under the condition that the detection signal is not acquired within the preset time period for outputting the first forward signal and/or the first reverse signal and the detection signal is not acquired within the preset time period for outputting the second forward signal and/or the second reverse signal, determining that the clamping jaw device 100 has a fault.

It can be understood that when the locked-rotor signal is acquired within the preset time period of outputting the first forward signal and the first reverse signal and within the preset time period of outputting the second forward signal and the second reverse signal, whether the jaw apparatus 100 is in failure is further determined by determining whether the detection signal is acquired. When it is satisfied that at least one of the detection signals is not acquired within the preset time period for outputting the first forward signal, at least one of the detection signals is not acquired within the preset time period for outputting the first reverse signal, and the detection signal is not acquired within the preset time period for outputting the second forward signal, and at least one of the detection signals is not acquired within the preset time period for outputting the second reverse signal, it may be determined that the jaw apparatus 100 is malfunctioning. For example, when the detection signal is not acquired within a preset period of time during which the first forward signal is output and the detection signal is not acquired within a preset period of time during which the second reverse signal is output, it may be determined that the jaw apparatus 100 is malfunctioning.

Still further, the control method includes:

under the condition that detection signals are acquired within the preset time period of outputting the first forward signal and the first reverse signal, determining that the first interface 22 outputs a first control signal for driving the second motor 34, and the second interface 24 outputs a second control signal for driving the first motor 32;

under the condition that the detection signals are acquired within the preset time period of outputting the second forward signal and the second reverse signal, it is determined that the first interface 22 outputs a first control signal for driving the first motor 32, and the second interface 24 outputs a second control signal for driving the second motor 34.

In an embodiment, when it is determined that the clamping jaw device 100 has a fault according to the detection signal and/or the locked rotor signal acquired during the movement process, it may be further determined that a channel in which the clamping jaw device 100 has a fault is a channel in which the clamping jaw device 100 has a fault, that is, a channel in which the clamping jaw device 10 has a fault in the structure related to the opening and closing movement of the clamping jaw mechanism 10 in the horizontal degree of freedom or a channel in which the clamping jaw device 10 has a fault in the structure related to the vertical degree of freedom. For example, the detection mechanism 40 includes two limit switches respectively disposed at the upper and lower ends of the clamping jaw device 100 in the vertical direction, and in the normal operation state, when the second motor 34 drives the clamping jaw mechanism 10 to vertically move up and down, the limit switches at the upper and lower ends are triggered, so that the detection mechanism 40 outputs two detection signals. When the first control signal includes the first forward signal and the first reverse signal, the number of times of acquiring the detection signal may be further determined in a case where the detection signal is acquired within a preset time period during which the first control signal is output. Specifically, when the detection signal is acquired twice, it can be determined that the structure related to the upward and downward movement of the gripper mechanism 10 in the vertical degree of freedom is normal, and when the detection signal is acquired once, it can be determined that the structure related to the upward and downward movement of the gripper mechanism 10 in the vertical degree of freedom is malfunctioning.

In the present embodiment, the first motor 32 and the second motor 34 are controlled to drive the clamping jaw mechanism 10 to move, then whether the clamping jaw device 100 fails is determined according to the detection signal and/or the locked rotor signal acquired during the moving process, and then the channel interface connected to the first motor 32 and the second motor 34 is determined according to the detection signal. The channel adaptation and the self-checking (fault detection) of the jaw apparatus 100 can be completed according to the detection signal and the locked rotor signal acquired in the process of controlling the movement of the jaw mechanism 10, and the operation is convenient and fast.

In some embodiments, the control method further comprises: in the event that a malfunction of the gripper apparatus 100 is determined, a prompt message is generated. The prompt message is used for prompting the fault.

Specifically, the prompt message includes at least one of voice message, text message, and picture message. It will be appreciated that the jaw apparatus 100 also includes a reminder alarm. The alarm prompting device can be a loudspeaker for sending voice information to prompt the clamping jaw device 100 to have a fault, or a display for prompting the clamping jaw device 100 to have a fault by displaying text information and/or picture information. For example, the text information and/or the picture information may be used to indicate to the user that something is wrong with the structure associated with the opening and closing movement of the gripper mechanism 10 in the horizontal degree of freedom and/or the structure associated with the up and down movement of the gripper mechanism 10 in the vertical degree of freedom. Of course, the prompting alarm may be a separate device, and may be connected to the clamping jaw device 100 in a wired or wireless manner.

Referring to fig. 2 and 3, a gripper apparatus 100 according to an embodiment of the present disclosure includes a gripper mechanism 10, a controller 20, a driving mechanism 30, and a detecting mechanism 40. The controller 20 is connected to the driving mechanism 30 and the detecting mechanism 40. The controller 20 includes a first interface 22 and a second interface 24. The drive mechanism 30 includes a first motor 32 and a second motor 34. The first motor 32 is used for driving the claw 12 of the clamping jaw mechanism 10 to open and close. The second motor 34 is used to drive the jaw mechanism 10 to move. The detection mechanism 40 is used to detect the position at which the gripper mechanism 10 is moved. The controller 20 is configured to control the first interface 22 to output a first control signal for driving one of the first motor 32 and the second motor 34 to operate, the second interface 24 to output a second control signal for driving the other of the first motor 32 and the second motor 34 to operate, and to obtain a detection signal of the detection mechanism 40 when the first control signal or the second control signal is output, and to determine that the first interface 22 outputs a first control signal for driving the first motor 32 and the second interface 24 outputs a second control signal for driving the second motor 34 according to the detection signal; alternatively, it is determined that the first interface 22 outputs a first control signal for driving the second motor 34 and the second interface 24 outputs a second control signal for driving the first motor 32.

In the clamping jaw device 100 according to the embodiment of the present application, the channel interface connected to the first motor 32 and the second motor 34 can be determined by obtaining the detection signal of the detection mechanism 40, so that the corresponding control signal can be automatically configured to respectively drive and control the motors corresponding to the channel interfaces, thereby ensuring the normal operation of the clamping jaw device 100.

The control method according to the above embodiment can be realized by the chuck jaw device 100 according to the embodiment of the present application. The explanation and advantageous effects of the control method of the above embodiment are also applied to the jaw apparatus 100 of the embodiment of the present application, and are not expanded in detail here to avoid redundancy.

In some embodiments, the controller 20 is configured to determine that the jaw apparatus 100 is malfunctioning if the detection signal is not acquired within a preset time period of outputting the first control signal and the second control signal, respectively.

In some embodiments, the controller 20 is configured to output the first control signal and the second control signal in sequence, and to acquire the detection signals, and to acquire the stall signals of the first motor 32 and the second motor 34, and to determine whether the jaw apparatus 100 is malfunctioning based on the detection signals and/or the stall signals.

In some embodiments, the first control signal includes a first forward signal and a first reverse signal. The controller 20 is configured to output a first forward signal, determine whether a detection signal or a locked rotor signal is acquired, output a first reverse signal when the detection signal or the locked rotor signal is acquired or the detection signal or the locked rotor signal is not acquired within a preset time period, determine whether the detection signal or the locked rotor signal is acquired when the first reverse signal is output, and stop outputting the first reverse signal when the detection signal or the locked rotor signal is acquired or the detection signal or the locked rotor signal is not acquired within the preset time period.

In some embodiments, the second control signal includes a second forward signal and a second reverse signal. The controller 20 is configured to output a second forward signal, determine whether the detection signal or the locked rotor signal is acquired, output a second reverse signal when the detection signal or the locked rotor signal is acquired or the detection signal or the locked rotor signal is not acquired within a preset time period, determine whether the detection signal or the locked rotor signal is acquired when the second reverse signal is output, and stop outputting the second reverse signal when the detection signal or the locked rotor signal is acquired or the detection signal or the locked rotor signal is not acquired within the preset time period.

In certain embodiments, the controller 20 is configured to determine that the jaw apparatus 100 is malfunctioning if the stall signal is not acquired within a preset time period of outputting the first control signal and/or the second control signal.

In some embodiments, the controller 20 is configured to determine whether a detection signal is acquired within a preset time period during which the first control signal and/or the second control signal is output, in the case where a locked-rotor signal is acquired within both the preset time period during which the first control signal and the second control signal are output, and to determine that the jaw apparatus 100 is malfunctioning, in the case where a detection signal is not acquired within both the preset time period during which the first control signal and the second control signal are output.

In some embodiments, the controller 20 is configured to determine that the first interface 22 outputs the first control signal for driving the second motor 34 and the second interface 24 outputs the second control signal for driving the first motor 32 if the detection signal is acquired within a preset time period during which the first control signal is output, and to determine that the first interface 22 outputs the first control signal for driving the first motor 32 and the second interface 24 outputs the second control signal for driving the second motor 34 if the detection signal is acquired within a preset time period during which the second control signal is output.

In certain embodiments, the jaw apparatus 100 includes a first motor sensor and a second motor sensor. The first motor sensor is used to acquire an electrical signal of the first motor 32 and the second motor sensor is used to acquire an electrical signal of the second motor 34. The controller 20 is configured to obtain the locked rotor signal according to the electrical signal of the first motor 32 and the electrical signal of the second motor 34.

In some embodiments, the jaw apparatus 100 includes a warning alarm for generating a warning message in the event that the jaw apparatus 100 is determined to be malfunctioning, the warning message being used to warn of the malfunction.

In some embodiments, the prompt message includes at least one of a voice message, a text message, and a visual message.

The mobile device of the embodiment of the present application includes a mobile platform and the jaw apparatus 100 of any of the above embodiments. The jaw apparatus 100 is disposed on a moving platform.

In the mobile device according to the embodiment of the present application, the channel interface connected to the first motor 32 and the second motor 34 can be determined by obtaining the detection signal of the detection mechanism 40, so that corresponding control signals can be automatically configured to respectively drive and control the motors corresponding to the channel interfaces, thereby ensuring the normal operation of the clamping jaw apparatus 100.

It is understood that the clamping jaw device 100 is disposed on a movable platform, and the movable platform can move to drive the clamping jaw device 100 to move. The mobile platform may be any structure and type of mobile platform known in the art, such as an unmanned aerial vehicle, a mobile cart, a remote control car, a robot, etc. The structure and function of the clamping jaw device 100 are the same as those of the above embodiments, and specific reference may be made to the above embodiments, which are not described herein again.

In the description herein, references to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps in the process, and the scope of the preferred embodiments of the present application includes additional implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.

The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions.

It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, various steps or methods may be performed by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for performing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried out in the method of implementing the above embodiments may be implemented by hardware associated with instructions of a program, which may be stored in a computer-readable storage medium, and which, when executed, includes one or a combination of the steps of the method embodiments.

In addition, each functional unit in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be executed in the form of hardware or in the form of a software functional module. The integrated module, if executed in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present application have been shown and described above, it is to be understood that the above embodiments are exemplary and not to be construed as limiting the present application, and that changes, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.