Abstract: A gripper device includes a base and two gripping assemblies, each including a gripping member, a stand, and an elastic member. The gripping member includes a gripping portion and a supporting portion. The stand is movably disposed to the base and includes a connecter and a supporter. The supporting portion is pivotally connected to the supporter at a position between the gripping portion and the connecter so that the gripping member is pivotable relative to the stand. Two opposite ends of the elastic member are respectively connected to the supporting portion and the connecter. When one of the gripping portions touches an object, the gripping member pivots relative to the corresponding stand. Therefore, gripping a target may not be interrupted by interference objects around the target.

Abstract: A gripper device includes a base and two gripping assemblies, each including a gripping member, a stand, and an elastic member. The gripping member includes a gripping portion and a supporting portion. The stand is movably disposed to the base and includes a connecter and a supporter. The supporting portion is pivotally connected to the supporter at a position between the gripping portion and the connecter so that the gripping member is pivotable relative to the stand. Two opposite ends of the elastic member are respectively connected to the supporting portion and the connecter. When one of the gripping portions touches an object, the gripping member pivots relative to the corresponding stand. Therefore, gripping a target may not be interrupted by interference objects around the target.

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.

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.

Abstract: A gripper-mounting mechanism includes an outer shell, a motor unit, a first transmission unit, and a plurality of second transmission units. The outer shell includes spaced-apart first and second walls, and a receiving wall that extends from the second wall toward the first wall and that defines a receiving channel adapted to receive an end effector therein through an opening of the second wall. The first transmission unit includes a transmission gear unit driven by the motor unit. The second transmission units surround the receiving wall. Each of the second transmission units includes a grip member driven movably by the transmission gear unit. The grip members are movable relative to the outer shell toward or away from each other.

Abstract: A gripper-mounting mechanism includes an outer shell, a motor unit, a first transmission unit, and a plurality of second transmission units. The outer shell includes spaced-apart first and second walls, and a receiving wall that extends from the second wall toward the first wall and that defines a receiving channel adapted to receive an end effector therein through an opening of the second wall. The first transmission unit includes a transmission gear unit driven by the motor unit. The second transmission units surround the receiving wall. Each of the second transmission units includes a grip member driven movably by the transmission gear unit. The grip members are movable relative to the outer shell toward or away from each other.

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.

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: 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: 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.

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.

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.

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.

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.

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.