公开(公告)号：US20160114491A1

公开(公告)日：2016-04-28

申请号：US14522203

申请日：2014-10-23

Applicant: HIWIN TECHNOLOGIES CORP.

Inventor： Yu-Shan LEE ,  Shu-Hung LIU

IPC: B25J17/02

CPC classification number: B25J19/0029 ,  Y10S901/23 ,  Y10S901/29

Abstract: A wrist structure for an articulated robotic arm includes: a wrist body, a rotary member, a signal processing circuit board, a connector, a control unit and a drive unit. The wrist body includes a front end portion, a rear end portion, a receiving portion, and a wiring hole formed in the rear end portion. The rotary member is rotatably connected to the front end portion. The signal processing circuit board is removably disposed at the rear end portion, located inside the receiving portion and includes a gap aligned with the wiring hole. The connector is disposed in the wrist body and signal connected to the signal processing circuit board. The control unit is disposed inside the receiving portion and signal connected to the signal processing circuit board. The drive unit is disposed in the receiving portion to control the rotary member to swing with respect to the wrist body.

Abstract translation: 铰接机器臂的腕结构包括：手腕体，旋转构件，信号处理电路板，连接器，控制单元和驱动单元。 手腕体包括形成在后端部的前端部，后端部，容纳部以及配线孔。 旋转构件可旋转地连接到前端部。 信号处理电路板可拆卸地设置在位于接收部分内部的后端部，并且包括与布线孔对准的间隙。 连接器设置在腕体中并且信号连接到信号处理电路板。 控制单元设置在接收部分内部，并且信号连接到信号处理电路板。 驱动单元设置在接收部分中，以控制旋转构件相对于腕体摆动。

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.