Operating system for a robot arm

Abstract

The operation system of the mechanical arm of the present application comprises a control device, a plurality of shaft driving control devices and a brake release monitoring device. The control device is used to generate an operation instruction. The shaft driving control devices are coupled to the control device. Each shaft driving control device comprises a motor and a driver. The drivers of the plurality of shaft driving control devices receive the operation instruction to generate corresponding brake release signals. The brake release signals are used to release a brake state of the motors of the corresponding shaft driving control devices. The brake release monitoring device is coupled to the control device and the shaft driving control devices, and comprises a plurality of monitoring circuits. When one of the plurality of monitoring circuits does not receive the corresponding brake release signal, the brake release monitoring device informs the control device that the operation instruction is not allowed to be executed.

Description

Technical Field

[0001] This invention relates to robotic arms, and more particularly to an operating system for a robotic arm. Background Technology

[0002] The robotic arm operates by controlling the axis (joint) drive mechanisms of its various axes via commands from a control device. These drive mechanisms include motors and drivers. When the robotic arm is powered off or after a previous operation, the motor's braking mechanism closes to lock the motor. Therefore, when a new command is needed, the control device sends the command to the drive mechanism, which then supplies de-braking power to the motor, releasing the brakes and allowing the motor to operate normally according to the command.

[0003] In practice, the drive may malfunction or misoperate, failing to send out the release power, indicating that the motor has not yet been released. Subsequently, the drive continues to execute the operating commands of the control device to drive the motor. Thus, forcing the locked motor to run can lead to wear or burnout problems. Summary of the Invention

[0004] In view of the above-mentioned shortcomings, the purpose of this invention is to provide a reliable and safe operating system for a robotic arm.

[0005] Based on this, the robotic arm operating system according to the present invention includes a control device, multiple axis drive control devices, and a brake release monitoring device. The control device generates an operating command. The multiple axis drive control devices are coupled to the control device. Each axis drive control device includes a motor and a driver. The drivers of the multiple axis drive control devices receive the operating command to generate corresponding multiple brake release signals. The multiple brake release signals are used to release the braking state of the corresponding multiple motors. The brake release monitoring device is coupled to the control device and the multiple axis drive control devices, and includes multiple monitoring circuits. The multiple monitoring circuits correspond to the multiple axis drive control devices and are used to receive the multiple brake release signals to release the braking state, and notify the control device to allow the execution of the operating command, so that the multiple motors of the multiple axis drive control devices operate according to the operating command. Wherein, if one of the multiple monitoring circuits does not receive the corresponding brake release signal, the brake release monitoring device notifies the control device that the execution of the operating command is not permitted.

[0006] Thus, the operating system of the robotic arm of the present invention can monitor the status of the driver by one-to-one monitoring of whether the driver outputs the release signal normally through the monitoring circuit of the release monitoring device corresponding to the number of multiple axis drive control devices, and then feed back the status of receiving the release signal to the control device to avoid motor damage or burnout. Attached Figure Description

[0007] The detailed structure, features, and operation of the robotic arm's operating system will be described in the following embodiments. However, it should be understood that the embodiments and accompanying drawings described below are merely illustrative and should not be used to limit the scope of the patent application of this invention.

[0008] Figure 1 This is a schematic diagram of the operating system of the robotic arm of the present invention;

[0009] Figure 2 yes Figure 1 Block diagram of the system in operation;

[0010] Figure 3 yes Figure 2 Circuit diagram of the first embodiment of the braking monitoring device;

[0011] Figure 4 yes Figure 2 Circuit diagram of the second embodiment of the braking monitoring device;

[0012] Figure 5 yes Figure 2 Circuit diagram of the third embodiment of the braking monitoring device.

[0013] The meanings of the reference numerals in the above figures are as follows:

[0014] 10: Operating System;

[0015] 30: Control device;

[0016] 50: Robotic arm;

[0017] 51-56: Shaft drive control device;

[0018] 511-561: Driver;

[0019] 513-563: Motor;

[0020] 70: Brake release monitoring device;

[0021] 71-76: Monitoring circuit;

[0022] 711-761: Signal detection unit;

[0023] 713-763: Switching unit;

[0024] 715-765: Notification Unit;

[0025] 717-767: Power processing unit;

[0026] Q1-Q6: Input transistors;

[0027] Q7-Q12: Power supply transistors;

[0028] Q13-Q18: N-channel enhancement-mode field-effect transistors;

[0029] U1-U6: Optocouplers;

[0030] K1-K6: Relays;

[0031] V B : Disconnect power supply. Detailed Implementation

[0032] The technical content and features of the present invention will be described in detail below with reference to several embodiments and accompanying drawings. The terms "connection" or "coupled" mentioned in this specification are only used to describe the normal formation of electrical conduction or connection, and are not intended to limit the scope of the claims.

[0033] To illustrate the technical features of the present invention in detail, the following embodiments are provided in conjunction with the accompanying drawings, wherein:

[0034] like Figure 1 and Figure 2 As shown, Figure 1 This is a schematic diagram of the operating system 10 of the present invention applied to the robotic arm 50. Figure 2 This is a block diagram of the components of the operating system 10. In this embodiment, the robotic arm 50 can operate in six-axis directions.

[0035] The operating system 10 includes a control device 30, six joint devices 51-56 and a brake release monitoring device 70.

[0036] The control device 30 is used to generate an operating command. The operating command includes the braking and operation planning of each axis drive control device 51-56 that needs to operate during operation, so that each axis drive control device 51-56 can perform actions according to the operation plan.

[0037] Multiple axis drive control devices 51-56 are coupled to control device 30. Each axis drive control device 51-56 includes a driver 511-561 and a motor 513-563. The drivers 511-561 of the multiple axis drive control devices 51-56 receive operating commands to generate six corresponding release signals. These release signals are used to release the braking state of the motors 513-563 of the corresponding multiple axis drive control devices 51-56. In the braking state, the motors 513-563 cannot be operated or run. After the braking state is released, the motors 513-563 are released and can then be freely operated or run, that is, to execute the operating plan.

[0038] The brake release monitoring device 70 is coupled to the control device 30 and multiple shaft drive control devices 51-56, and includes six monitoring circuits 71-76. The multiple monitoring circuits 71-76 are correspondingly connected to multiple shaft drive control devices 51-56, and receive corresponding multiple brake release signals to release the brake state, and notify the control device 30 to allow the execution of the running command, so that the motors 513-563 operate according to the running command.

[0039] When one of the monitoring circuits 71-76 does not receive a brake release signal, the brake release monitoring device 70 notifies the control device 30 that the execution of the running command is not permitted. "One of the monitoring circuits 71-76" refers to any one or more (e.g., two, three, four, five, or six). In this case, the control device 30 does not allow the shaft drive control devices 51-56 to execute the running plan in the running command to avoid damage caused by forcibly operating the motors 513-563 while in a braking state.

[0040] Furthermore, the determination of whether a release signal has been received is based on the selected and activated monitoring circuits 71-76. In other embodiments, when only three out of six are selected and activated, the determination of receiving a release signal is based on the activated monitoring circuits, and the remaining unactivated circuits are not determined or confirmed. Of course, in other embodiments, the number of activated monitoring circuits 71-76 can be more or less, and is not limited to the examples above.

[0041] like Figure 3 As shown, Figure 3 This is a circuit diagram of the first embodiment of the brake release monitoring device. The multiple monitoring circuits 71-76 have the same composition, each of which includes a signal detection unit 711-761, a switching unit 713-763, a notification unit 715-765, and a power processing unit 717-767.

[0042] Signal detection units 711-761 are connected to drivers 511-561 and are used to receive de-braking signals. In this embodiment, signal detection units 711-761 include input transistors Q1-Q6, which are P-channel enhancement-mode field-effect transistors (PMOSFETs). The gates of input transistors Q1-Q6 are connected to drivers 511-561 for receiving de-braking signals. The sources of input transistors Q1-Q6 are connected to the de-braking power supply VB.

[0043] Switching units 713-763 are connected to signal detection units 711-761 and notification units 715-765. The drains of input transistors Q1-Q6 are connected to the input terminals of switching units 713-763, and notification units 715-765 are connected to the output terminals of switching units 713-763. In this embodiment, switching units 713-763 are, for example, toggle switches, used to select whether the monitoring circuits 71-76 are in use or not. For example, when only three of the six axis drive control devices need to be used, the switches corresponding to these three axis drive control devices are turned on by switching units 713-763, while the switching units 713-763 corresponding to the unused axis drive control devices remain off, so as to preserve the flexibility of using the axis drive control devices.

[0044] Notification units 715-765 are connected to the control device 30 and notify the control device 30 whether a release signal has been received based on the operation of signal detection units 711-761. In this embodiment, each notification unit 715-765 has the same circuit composition, such as a diode and a light-emitting diode. The diode is connected to the switching units 713-763 and the control device 30 to notify the control device 30 by changing the voltage or signal level (e.g., high voltage and low voltage). The light-emitting diode can provide an alert through light, facilitating maintenance and monitoring.

[0045] When the gates of input transistors Q1-Q6 receive the deactivation signal, the input transistors Q1-Q6 are turned off. Therefore, the drains of input transistors Q1-Q6 do not supply power to the switching units 713-763 and the notification units 715-765, and instead notify the control device 30 with a low voltage.

[0046] Conversely, in an abnormal state, for example, when the gate of input transistor Q3 does not receive a deactivation signal, but the gates of other input transistors Q1-Q2 and Q4-Q6 do receive deactivation signals, input transistor Q3 will be in a conducting state, and input transistors Q1-Q2 and Q4-Q6 will be in a cutoff state. Therefore, the drains of input transistors Q1-Q2 and Q4-Q6 will not supply power to switching units 713-723, 743-763 and notification units 715-725, 745-765. However, the drain of input transistor Q3 can supply power to switching unit 733 and notification unit 735. Therefore, notification unit 735 will notify control device 30 of an abnormality with a high voltage, so that control device 30 outputs a stop command to prevent drivers 511-561 from executing running commands.

[0047] The power processing unit 717-767 is connected to the release power supply VB, the driver 511-561 of the corresponding shaft drive control device 51-56 and the motor 513-563, and supplies the release power supply VB to the motor 513-563 corresponding to the release signal to release the brake structure of the motor 513-563.

[0048] In this embodiment, the power processing circuit 717-767 includes a trigger element and power supply transistors Q7-Q12. The trigger element is connected to the power supply transistors Q7-Q12 and the drivers 511-561 corresponding to the multiple axis drive control devices 51-56. The trigger element triggers the power supply transistors Q7-Q12 to conduct according to the release signal, so as to supply the release power VB to the motors 513-563. When no release signal is received, the trigger element will not turn on the power supply transistors Q7-Q12.

[0049] The triggering elements are, for example, N-channel enhancement-mode field-effect transistors (NMOSFETs) Q13-Q18, and the power supply transistors Q7-Q12 are, for example, P-channel enhancement-mode field-effect transistors (PMOSFETs). The gates of the N-channel enhancement-mode field-effect transistors Q13-Q18 are connected to the drivers 511-561 of the multiple axis drive devices 51-56. The sources of the N-channel enhancement-mode field-effect transistors Q13-Q18 are connected to the ground terminal. The drains of the N-channel enhancement-mode field-effect transistors Q13-Q18 are connected to the de-energizing power supply VB and the gates of the power supply transistors Q7-Q12. The sources of the power supply transistors Q7-Q12 are connected to the de-energizing power supply VB. The drains of the power supply transistors Q7-Q12 are connected to the motors 513-563 of the multiple axis drive devices 51-56.

[0050] When the gates of N-channel enhancement-mode field-effect transistors Q13-Q18 all normally receive the de-brake signal, the N-channel enhancement-mode field-effect transistors Q13-Q18 trigger the power supply transistors Q7-Q12 to conduct, thereby causing the drains of the power supply transistors Q7-Q12 to supply the de-brake power supply VB to the motors 513-563 of the multiple axis drive control devices 51-56, so that the motors 513-563 can complete the de-brake, and then the motors 513-563 can execute the running commands normally.

[0051] Continuing with the previous example of anomalies, when an anomaly occurs, the deactivation power supply VB cannot be transmitted to the motor 533.

[0052] like Figure 4 As shown, Figure 4 This is a circuit diagram of the second embodiment of the brake release monitoring device. Compared to Figure 3 The difference lies in the triggering element. Figure 3 The triggering element is a field-effect transistor (FET), for example. Figure 4 The triggering element is taken as an example of optocoupler U1-U6. The composition and operation of the same parts will not be described again here.

[0053] When the drivers 511-561 of the multiple axis drive control devices 51-56 output the release signal normally, the optocouplers U1-U6 will be turned on to trigger the power supply transistors Q7-Q12 to turn on, so that the drain of the power supply transistors Q7-Q12 supplies the release power VB to the motors 513-563 of the multiple axis drive control devices 51-56 to release the motors 513-563. Then, the motors 513-563 can execute the running commands normally.

[0054] Similarly, when at least one of the drivers 511-561 of the shaft drive control device 51-56 fails to output a normal release signal, the optocouplers U1-U6 that do not receive the release signal will not be turned on, and therefore, the power supply transistors Q7-Q12 will not be triggered.

[0055] like Figure 5 As shown, Figure 5 This is a circuit diagram of the third embodiment of the brake release monitoring device. Each monitoring circuit 71-76 includes a relay K1-K6 and a switching unit 713-763. The switching units 713-763 are connected to the relays K1-K6 and the control device 30. The relays K1-K6 include a control coil, a first common contact C1, a first normally closed contact NC1, a first normally open contact NO1, a second common contact C2, a second normally closed contact NC2, and a second normally open contact NO2. The control coil is connected to the driver 511-561 of the corresponding axis drive control device 51-56. The first common contact C1 of the relay K1 is connected to the ground terminal. The first normally open contact NO1 is connected to the switching unit 713-763, and the first normally open contact NO1 of the relays K1-K6 is connected to the first common contact C1 of the relays K2-K6. The second common contact C2 is connected to the brake release power supply VB. The second normally open contact NO2 is connected to the motor 513-563 of the corresponding six-axis drive control device.

[0056] When the control coil normally receives the release signal from the driver 511-561, the relays K1-K6 will switch from normally closed contacts NC1, NC2 to normally open contacts NO1, NO2. This notifies the control device 30 via the first normally open contact NO1 and the switching unit 713-763, so that the control device 30 controls the drivers 511-561 of the shaft drive devices 51-56 to execute the running command. The release power supply VB can then be supplied to the motor 513-563 via the second normally open contact NO2 to release the motor 513-563.

[0057] Similarly, when the control coil of any relay K1-K6 does not receive a release signal, the switch of the relay K1-K6 that did not receive a release signal remains in the normally closed contact NC1, NC2 position. Thus, the state (e.g., high voltage level state) fed back to the control device 30 by the relay K1-K6 that did not receive a release signal is different from the state (e.g., low voltage level state) fed back to the control device 30 by the other relays K1-K6 that received a release signal. Therefore, the control device 30 outputs a stop command and does not allow the execution of the run command to avoid wear or burnout of motors 513-563.

[0058] Although the above embodiments are based on a six-axis robotic arm, in other embodiments, the number of axis drive control devices and monitoring circuits may be more or less, for example, more than six axes, or for example, only two, three, four or five axes. Therefore, the operating system of the present invention is not limited to six axes.

[0059] The above embodiments illustrate the technology and purpose of the hardware configuration of the robotic arm operating system of the present invention, which will be understood by those skilled in the art. Therefore, the above-described configuration of transistors (including N-channel or P-channel) or relays can also achieve the same technology and purpose by changing the number or arrangement of logic elements in the hardware. Therefore, the transistors and relays described in the embodiments are not intended to limit the scope of the claims. Furthermore, the aforementioned use of voltage level to confirm the transmission status of the release signal is only for illustrative purposes. In other embodiments, the determination can be made using logic opposite to that of the present invention; for example, a low voltage level indicates that no release signal has been received.

Claims

1. A robot system, comprising: a control device for generating a running instruction; a plurality of axis drive control devices coupled to the control device, each axis drive control device including a motor and a driver, the drivers of the plurality of axis drive control devices receiving the running instruction to generate a corresponding plurality of unbrake signals for unbraking a brake state of corresponding plurality of motors; and an unbrake monitoring device coupled to the control device and the plurality of axis drive control devices and including a plurality of monitoring circuits corresponding to the plurality of axis drive control devices and for receiving the plurality of unbrake signals to unbrake the brake state and notifying the control device to allow execution of the running instruction for the plurality of motors of the plurality of axis drive control devices to operate according to the running instruction, wherein the unbrake monitoring device notifies the control device to not allow execution of the running instruction when one of the plurality of monitoring circuits does not receive the corresponding unbrake signal. Each of the plurality of monitoring circuits includes a relay and a switching unit, the switching unit connecting the relay and the control device, the relay including a control coil, a first common contact, a first normally closed contact, a first normally open contact, a second common contact, a second normally closed contact, and a second normally open contact, the control coil connecting the plurality of drivers corresponding to the plurality of axis drive control devices, the first common contact connecting a ground terminal, the first normally open contact connecting the switching unit, the second common contact connecting an unbrake power supply, and the second normally open contact connecting the plurality of motors corresponding to the plurality of axis drive control devices.

2. The operation system of the robot arm according to claim 1, wherein, Each of the plurality of monitoring circuits includes a signal detection unit, a switching unit, a notification unit, and a power supply processing unit, the signal detection unit connecting the plurality of drivers corresponding to the plurality of axis drive control devices and for receiving the unbrake signal, the switching unit connecting the signal detection unit and the notification unit, the notification unit connecting the control device and notifying the control device whether the unbrake signal is received according to operation of the signal detection unit, and the power supply processing unit connecting an unbrake power supply, the plurality of drivers corresponding to the plurality of axis drive control devices, and the plurality of motors and supplying the unbrake power supply to the corresponding motor according to the unbrake signal.

3. The operation system of the robot arm according to claim 2, wherein, The signal detection unit includes a transistor operating according to the unbrake signal.

4. The operation system of the robot arm according to claim 2, wherein, The power supply processing circuit includes a trigger element and a power supply transistor, the trigger element connecting the power supply transistor and the plurality of drivers corresponding to the plurality of axis drive control devices, the trigger element triggering the power supply transistor to be turned on according to the unbrake signal to supply the unbrake power supply to the motor, and the trigger element being unable to trigger the power supply transistor to be turned on when the unbrake signal is not received.

5. The operation system of the robot arm according to claim 4, wherein, The trigger element includes a transistor.

6. The operation system of the robot arm according to claim 4, wherein, The trigger element includes an opto-coupler.

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