公开(公告)号：US10099370B2

公开(公告)日：2018-10-16

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

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：US10399224B2

公开(公告)日：2019-09-03

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

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：US09796084B2

公开(公告)日：2017-10-24

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: G06F19/00 ,  B25J9/16 ,  G05B19/29

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 controller. The sensor is assembled onto the motor for generating a current position of the gripper mechanism. The controller 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.