公开(公告)号：US20180231061A1

公开(公告)日：2018-08-16

申请号：US15954085

申请日：2018-04-16

Applicant: HIWIN TECHNOLOGIES CORP.

Inventor： Chen-Ming WONG ,  Ming-Shiou LIU ,  Yan-Shun HUANG

IPC: F16D1/10 ,  B23B31/107 ,  B25J15/04

CPC classification number: F16D1/10 ,  B23B31/1074 ,  B23B2260/136 ,  B25J15/0408 ,  B25J15/0416 ,  F16D1/112

Abstract: A mechanical end-effector changer includes a first connection unit and a second connection unit. The first connection unit has mounted therein multiple movable members and mating elastic members. Subject to the linking relationship between each movable member and the respective elastic member, the first connection unit and the second connection unit can be automatically connected together or detached from each other, facilitating end-effector change.

公开(公告)号：US20180036881A1

公开(公告)日：2018-02-08

申请号：US15789256

申请日：2017-10-20

Applicant: HIWIN TECHNOLOGIES CORP.

Inventor： Chen-Ming WONG ,  Wei-Shao CHEN

IPC: B25J9/16 ,  H02P8/34 ,  B25J13/08

CPC classification number: B25J9/1612 ,  B25J9/1692 ,  B25J13/087 ,  B25J13/088 ,  G05B2219/37023 ,  G05B2219/39514 ,  G05B2219/42304 ,  H02P6/182 ,  H02P8/34

Abstract: A gripping system which is monitored based on CEMF and a method for controlling the same includes: using a controller to instruct a drive unit to rotate a stepper motor; using the controller to compare the control instruction with a control parameter matrix stored in an access unit; obtaining a CEMF threshold by checking the position of the actual CEMF in the control parameter matrix; using the controller to continuously monitor the actual CEMF; and using the controller to compare the actual counter electromotive force with the obtained corresponding counter electromotive force threshold, stopping the stepper motor and letting the gripper maintain the gripping status when the actual counter electromotive force is smaller than or equal to the counter electromotive force threshold, and maintaining driving of the stepper motor when the actual counter electromotive force is larger than the counter electromotive force threshold.

公开(公告)号：US20190143516A1

公开(公告)日：2019-05-16

申请号：US16244901

申请日：2019-01-10

Applicant: HIWIN TECHNOLOGIES CORP.

Inventor： Chen-Ming WONG ,  Wei-Shao CHEN

IPC: B25J9/16 ,  B25J9/00 ,  B25J15/02

CPC classification number: B25J9/1664 ,  B25J9/0009 ,  B25J9/1612 ,  B25J15/0253

Abstract: A gripping system which is monitored based on CEMF and a method for controlling the same includes: using a controller to instruct a drive unit to rotate a stepper motor; using the controller to compare the control instruction with a control parameter matrix stored in an access unit; obtaining a CEMF threshold by checking the position of the actual CEMF in the control parameter matrix; using the controller to continuously monitor the actual CEMF; and using the controller to compare the actual counter electromotive force with the obtained corresponding counter electromotive force threshold, stopping the stepper motor and letting the gripper maintain the gripping status when the actual counter electromotive force is smaller than or equal to the counter electromotive force threshold, and maintaining driving of the stepper motor when the actual counter electromotive force is larger than the counter electromotive force threshold.

公开(公告)号：US20170021431A1

公开(公告)日：2017-01-26

申请号：US14803474

申请日：2015-07-20

Applicant: HIWIN TECHNOLOGIES CORP.

Inventor： Chen-Ming WONG ,  Ming-Shiou LIU ,  Yan-Shun HUANG

IPC: B23B31/171 ,  F16D1/10

CPC classification number: F16D1/10 ,  B23B31/1074 ,  B23B2260/136 ,  B25J15/0408 ,  F16D1/112

Abstract: A mechanical end-effector changer includes a first connection unit and a second connection unit. The first connection unit has mounted therein multiple movable members and mating elastic members. Subject to the linking relationship between each movable member and the respective elastic member, the first connection unit and the second connection unit can be automatically connected together or detached from each other, facilitating end-effector change.

Abstract translation: 机械端部执行器更换器包括第一连接单元和第二连接单元。 第一连接单元安装有多个可移动构件和配合弹性构件。 根据每个可动构件和相应的弹性构件之间的连接关系，第一连接单元和第二连接单元可以彼此自动地连接在一起或分离，从而有助于端部执行器的改变。

公开(公告)号：US20170259429A1

公开(公告)日：2017-09-14

申请号：US15069058

申请日：2016-03-14

Applicant: HIWIN TECHNOLOGIES CORP.

Inventor： Chen-Ming WONG ,  Wei-Shao CHEN

IPC: B25J9/16 ,  B25J15/02

CPC classification number: B25J9/1612 ,  B25J9/1694 ,  B25J15/02

Abstract: A driving method used in a driver device for driving an electric gripper is disclosed to include the step of providing a state signal that is generated according to the operation state of the electric gripper, the step of receiving an action instruction and detecting a feedback signal indicative of the action of the electric gripper when the state signal is an idle state, and the step of outputting the action instruction if the action of the electric gripper indicative of the action instruction is not in consistency with the action of the electric gripper indicative of the feedback signal. Thus, the driving method of the present invention needs not to provide a trigger signal for commanding the electric gripper to execute the action instruction.

公开(公告)号：US20170252927A1

公开(公告)日：2017-09-07

申请号：US15062478

申请日：2016-03-07

Applicant: HIWIN TECHNOLOGIES CORP.

Inventor： Chen-Ming WONG ,  Shu-Hung LIU

IPC: B25J9/16

CPC classification number: B25J9/1692 ,  B25J9/1687 ,  G05B2219/39024 ,  G05B2219/39191

Abstract: A method of path planning for array-based pick-and-place performed with a robotic arm is characterized in that: during each instance of the pick-and-place process performed with the robotic arm, an X-axis position sensor and a Y-axis position sensor sense coordinate errors of a pick-and-place point such that a controller calculates a position compensation value according to the sum of vectors of the coordinate errors, corrects the pick-and-place position of the robotic arm according to the position compensation value, and generates the coordinates of the next pick-and-place point. By repeating the aforesaid process flow, it is feasible to perform plenty array-based pick-and-place jobs.

公开(公告)号：US20170232610A1

公开(公告)日：2017-08-17

申请号：US15046169

申请日：2016-02-17

Applicant: HIWIN TECHNOLOGIES CORP.

Inventor： Chen-Ming WONG ,  Wei-Shao CHEN

IPC: B25J9/16 ,  G05B15/02 ,  H02P8/34

CPC classification number: H02P8/34 ,  B25J9/1612 ,  G05B2219/37023 ,  G05B2219/39514 ,  G05B2219/42304 ,  H02P6/182

Abstract: A gripping device monitored based on CEMF and a method for controlling the same includes: using a controller to instruct a drive unit to rotate a stepper motor; using the controller to compare the control instruction with a control parameter matrix stored in an access unit; obtaining a CEMF threshold by checking the position of the actual CEMF in the control parameter matrix; using the controller to monitor the actual CEMF; and using the controller to compare the actual CEMF with the threshold, maintaining driving of the stepper motor when the actual CEMF is larger than the threshold, and stopping the stepper motor to maintain the gripping status, when the actual CEMF is smaller than or equal to the threshold. The operation parameters are measured in advance when the stepper motor runs well, which ensures that the objected is stably gripped before abnormality occurs, thus stabilizing the gripping motion.