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    GRIPPING SYSTEM WHICH IS MONITORED BASED ON COUNTER ELECTROMOTIVE FORCE AND A METHOD FOR CONTROLLING THE GRIPPING SYSTEM
    1.
    发明申请
    GRIPPING SYSTEM WHICH IS MONITORED BASED ON COUNTER ELECTROMOTIVE FORCE AND A METHOD FOR CONTROLLING THE GRIPPING SYSTEM 审中-公开

    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.

    DRIVER DEVICE FOR ELECTRIC GRIPPER AND DRIVING METHOD THEREOF
    2.
    发明申请
    DRIVER DEVICE FOR ELECTRIC GRIPPER AND DRIVING METHOD THEREOF 审中-公开

    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.

    ELECTRIC GRIPPER SYSTEM AND CONTROL METHOD THEREOF
    5.
    发明申请
    ELECTRIC GRIPPER SYSTEM AND CONTROL METHOD THEREOF 有权
    电动刮板系统及其控制方法

    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。

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