Control system for assisting mechanical arm in getting out of trouble and driving circuit board

Abstract

The invention discloses a control system for assisting a mechanical arm in getting out of trouble and a driving circuit board. The control system of the mechanical arm comprises a first conversion circuit, a second conversion circuit and a third conversion circuit. The first conversion circuit outputs a first digital power supply signal in a first mode of the mechanical arm. The second conversion circuit outputs a second digital power supply signal in the first mode of the mechanical arm; and when the control system cannot control the mechanical arm to maintain the first mode, stopping outputting the second digital power supply signal. The third conversion circuit outputs a third digital power supply signal when the control system cannot control the mechanical arm to maintain the first mode.

Description

Technical Field

[0001] The present invention relates to a control system and a driving circuit board, and in particular to a control system and a driving circuit board for assisting a mechanical arm to escape from trouble, so as to enable the mechanical arm to resume normal operation. Background Art

[0002] During the operation of the robotic arm, it is easy for a collision or abnormal human operation to cause the robotic arm to enter a dead point, making it impossible to perform subsequent movements, and the robotic arm cannot return to the previous movement point and becomes stuck.

[0003] Based on the above problems, the present invention proposes a control system and a driving circuit board for assisting a robotic arm to escape from trouble, so that an operator can safely move the robotic arm out of a dead point. Summary of the invention

[0004] The purpose of the present invention is to provide a control system and a driving circuit board for assisting a robot arm to escape from trouble, which utilizes the state of a power supply to determine whether the robot arm needs to escape from trouble.

[0005] The purpose of the present invention is to provide a control system and a driving circuit board for assisting a robot arm to escape from trouble, which staggers the brake release timing to reduce the power consumption of the escape.

[0006] The purpose of the present invention is to provide a control system and a driving circuit board for assisting a robotic arm to escape from trouble, which monitors the rotation speed of a motor module and appropriately adjusts the braking force so that an operator can safely move the robotic arm out of a dead point.

[0007] To achieve the purpose of the aforementioned invention, the control system of the robot arm of the present invention comprises a first conversion circuit, a second conversion circuit and a third conversion circuit. The first conversion circuit outputs a first digital power signal when the robot arm is in a first mode. The second conversion circuit outputs a second digital power signal when the robot arm is in the first mode; when the control system cannot control the robot arm to maintain the first mode, the output of the second digital power signal is stopped. The third conversion circuit outputs a third digital power signal when the control system cannot control the robot arm to maintain the first mode.

[0008] Among them, the control system controls the robotic arm to operate in the first mode according to the first digital power signal and the second digital power signal; the control system cuts off the second digital power signal and controls the robotic arm to operate in the second mode; the control system controls the robotic arm to operate in the third mode according to the third digital power signal, and adjusts the braking force of a joint module.

[0009] Furthermore, the control system includes a decoder, a calculator and an operation circuit. The decoder receives a sensing signal, interprets the sensing signal and outputs a decoding signal; the calculator is coupled to the decoder, receives the decoding signal and generates a speed signal according to the decoding signal; and the operation circuit is coupled to the calculator, receives the speed signal, and compares the speed signal with a speed threshold signal to generate a speed operation signal.

[0010] To achieve the purpose of the aforementioned invention, the driving circuit board of the robot arm of the present invention includes a first power circuit, a second power circuit and a third power circuit. The first power circuit transmits a first power; the second power circuit transmits a second power, and the robot arm moves in a first mode according to the first power and the second power; when the robot arm cannot maintain the first mode, the transmission of the second power is stopped; and when the robot arm cannot maintain the first mode, the third power circuit transmits a third power.

[0011] Wherein, in the first mode and the second mode, the first power circuit and the second power circuit are coupled to a first power supply; in the third mode, the third power circuit is coupled to a second power supply.

[0012] Among them, each joint module of the robotic arm includes a driving circuit board, and a controller is arranged on the driving circuit board. The controller controls the braking force of the robotic arm in the first mode according to the second power supply; the controller controls the braking force of the robotic arm in the third mode according to the third power supply.

[0013] Among them, when the robotic arm cannot maintain the first mode, the controller controls the robotic arm to change from the first mode to the second mode, an operator connects the third power circuit and a second power supply, and after the controller controls the joint module to release the brake according to the third power supply, the operator guides the robotic arm to move. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 , which is a schematic diagram of the robot arm of the present invention;

[0015] Figure 2 , which is a schematic diagram of the robot arm, the control box and the second power supply of the present invention;

[0016] Figure 3 , which is a first schematic diagram of a joint module coupled to a power supply of the present invention;

[0017] Figure 4 , which is a second schematic diagram of the joint module of the present invention coupled to the power supply;

[0018] Figure 5 , which is a third schematic diagram of the joint module coupled to the power supply of the present invention;

[0019] Figure 6, which is a flow chart of the present invention for determining whether the robotic arm needs to be rescued; and

[0020] Figure 7 , which is a flow chart of the present invention assisting the robotic arm to escape from trouble.

[0021]

Explanation of symbols

[0022] 1 Robotic Arm

[0023] 2 Joint Modules

[0024] 3-axis arm

[0025] 4 Control Box

[0026] 20 Driver circuit board

[0027] 22 Controller

[0028] 41 Power Controller

[0029] 43 First power supply

[0030] 45 Power output circuit

[0031] 47 Power output circuit

[0032] 49 Second power supply

[0033] 51 Encoder

[0034] 53 Motor Module

[0035] 55 Solenoid valve

[0036] 57 Switching Circuit

[0037] 61 First power supply circuit

[0038] 63 Second power supply circuit

[0039] 65 Third power supply circuit

[0040] 71 Decoder

[0041] 73 Calculator

[0042] 75 Operational Circuit

[0043] 77 Control Circuit

[0044] 79 signal output circuit

[0045] 81 First conversion circuit

[0046] 83 Second conversion circuit

[0047] 85 Third conversion circuit

[0048] P1 First digital power signal

[0049] P2 Second digital power signal

[0050] P3 The third digital power signal

[0051] P43 First supply voltage

[0052] S20 Design or programming content

[0053] S21 Abnormal signal

[0054] S41 Power control signal

[0055] S42 Power control signal

[0056] S51 sensing signal

[0057] S61 First Analog Power Supply

[0058] S63 Second analog power supply

[0059] S65 Third analog power supply

[0060] S71 decoded signal

[0061] S73 speed signal

[0062] S75 operation signal

[0063] S77 control signal

[0064] S79 Switching signal

[0065] VO1 First Power Supply

[0066] VO2 Second power supply

[0067] VO3 Third power supply DETAILED DESCRIPTION

[0068] The technical means and effects adopted by the present invention to achieve the above-mentioned purpose are now described with reference to embodiments and accompanying drawings as follows.

[0069] See also Figure 1 , which is a schematic diagram of the robot arm of the present invention. As shown in the figure, the robot arm 1 includes a plurality of joint modules 2 and a plurality of shaft arms 3. These joint modules 2 are connected from the base to the shaft arms 3 to form a robot arm 1. A variety of tools can be installed at the end of the robot arm 1 to perform different tasks. Figure 2, which is a schematic diagram of the robot arm, control box and second power supply of the present invention. As shown in the figure, although the robot arm 1 includes multiple joint modules 2, only one joint module 2 is drawn for illustration purposes. When a control box 4 and a second power supply 49 are coupled to the robot arm 1, power can be provided to the robot arm 1. The control box 4 includes a first power supply 43, and Figure 2 The second power supply 49 is arranged outside the control box 4, so when the robot arm 1 and the control box 4 are a set of equipment, the first power supply 43 can be called the internal power supply of the set of equipment, and the second power supply 49 can be called the external power supply of the set of equipment. However, the second power supply 49 can also be changed in design and arranged inside the control box 4, which is an optional range.

[0070] See also Figure 2 , the control box 4 outputs a first power supply VO1 and a second power supply VO2 to each joint module 2 of the robot 1. At the beginning, the second power supply 49 has not been coupled to the robot 1, so the open circuit or short circuit state between the second power supply 49 and the robot 1 can be used to detect the state of the robot 1. For example, when the second power supply 49 is coupled to the robot 1, it means that the robot 1 is in a certain state (such as a trapped state). On the contrary, when the second power supply 49 is not coupled to the robot 1, it means that the robot 1 is not trapped, and the second power supply 49 can output a third power supply VO3 to each joint module 2. Furthermore, the first power supply VO1 and the second power supply VO2 are respectively used as energy sources for signal transmission and various movements when driving the robot 1. For example, the first power supply VO1 is used to generate a 5V control signal (such as Figure 3 S77), or using the second power supply VO2 to drive Figure 3 A motor module 53 is used to rotate the joint module 2, and finally the end of the robot arm 1 can move in three axes (X, Y, Z).

[0071] The control box 4 includes a power controller 41 and a plurality of power output circuits 45, 47. The first power supply 43 is coupled to the power controller 41 and the power output circuits 45, 47, and the first power supply 43 outputs a first supply voltage P43 to the power controller 41 and the power output circuits 45, 47. When the power controller 41 detects that the first supply voltage P43 is in a normal state, it outputs a plurality of power control signals S41, S42 to control the power output circuits 45, 47 to generate the first power VO1 and the second power VO2.

[0072] See also Figure 3 , which is a first schematic diagram of the joint module of the present invention coupled to the power supply. As shown in the figure, the joint module 2 receives the first power VO1 and the second power VO2, that is, the joint module 2 is coupled Figure 2 These power output circuits 45, 47, in other words, the joint module 2 is coupled Figure 2 Therefore, the robot arm 1 performs various movements according to the first power supply 43 in a first mode, wherein the first mode may be a normal mode, that is, the robot arm 1 may normally perform various pre-programmed tasks, paths, etc.

[0073] The joint module 2 includes a first power circuit 61 and a second power circuit 63. The first power circuit 61 and the second power circuit 63 are respectively coupled to Figure 2 These power output circuits 45 and 47 are used to receive the first power VO1 and the second power VO2. In this way, the first power circuit 61 and the second power circuit 63 transmit the first power VO1 and the second power VO2 respectively, and output a first analog power S61 and a second analog power S63 to enable the operation of the robot arm 1. That is, the robot arm 1 moves in the first mode according to the first power VO1 and the second power VO2. Furthermore, each joint module 2 of the robot arm 1 includes a driving circuit board 20, and a controller 22 is arranged on the driving circuit board 20; the driving circuit board 20 is coupled to the first power supply 43 of the control box 4, so that the first power circuit 61 and the second power circuit 63 of the driving circuit board 20 receive the first power VO1 and the second power VO2, and control a switching circuit 57 according to the first power VO1 and the second power VO2 to determine whether the motor module 53 is in a braking state and whether the motor starts to rotate according to the second power VO2.

[0074] See also Figure 3 , when the robot arm 1 is in the normal mode (i.e., the first mode), the circuit between the driving circuit board 20 and the second power supply 49 is open, that is, the circuit between the third power supply circuit 65 and the second power supply 49 is open. Furthermore, the driving circuit board 20 includes a controller 22, and the controller 22 is coupled to the encoder 51, the motor module 53, the switching circuit 57, the first power supply circuit 61, the second power supply circuit 62 and the third power supply circuit 65. Among them, the switching circuit 57 transmits the second power supply VO2 when the robot arm 1 is in the first mode, and the switching circuit 57 is coupled to a solenoid valve 55 to control the braking force of the solenoid valve 55 according to the second power supply VO2. In other words, the controller 22 can adjust the state of the switching circuit 57 to control the braking force of the joint module 2 according to the second power supply VO2, wherein the controller 22 can be an MCU (Micro Controller Unit); when the second power supply VO2 passes through the switching circuit 57, the solenoid valve 55 is released, that is, the brake is released, and conversely when the second power supply VO2 is cut off, the solenoid valve 55 is in the state of starting the brake.

[0075] The encoder 51 is coupled to the motor module 53 and monitors the motion state of the motor. For example, after monitoring the rotation speed, the encoder 51 generates a sensing signal S51. In this way, the controller 22 receives the sensing signal S51 and controls a power path of the switching circuit 57 according to the sensing signal S51 to adjust the rotation speed of the motor module 53 to adjust the motion speed of the robot arm 1 to ensure the safety of the operator. In other words, the switching circuit 57 turns on or off the power path according to the speed operation signal S75. Among them, the power path of the switching circuit 57 is the path for transmitting the second power VO2 and the third power VO3. The switching circuit 57 can be a transistor, a switching switch or a combination of multiple components. The controller 22 includes a first conversion circuit 81, a second conversion circuit 83 and a third conversion circuit 85, which are respectively coupled to the first power circuit 61, the second power circuit 63 and the third power circuit 65 to receive the first analog power S61 and the second analog power S63, wherein these conversion circuits 81, 83, 85 can be analog to digital conversion circuits (ADC, Analog to digital convertor). In addition, it is necessary to determine whether the third power circuit 65 outputs a third analog power S65 to the third conversion circuit 85 according to the state of the robot arm 1. Figure 3 The third analog power source S65 is not indicated in the embodiment. For example, if the robot arm 1 is moving normally and has not been stuck in a dead point position (such as normal mode), the controller 22 of the robot arm 1 is not connected to the external power source (i.e., not connected to the second power supply 49); on the contrary, if the robot arm 1 is stuck in a dead point position during movement and needs to be freed (i.e., freeing mode), the controller 22 needs to be connected to the external power source, and receives the signal such as Figure 4 The third analog power supply S65 is indicated. Therefore, the joint module 2 of the present invention uses the power supply status to determine whether the robot arm 1 needs to enter the escape mode. In addition, the dead point position or posture of the robot arm 1 can be referred to Figure 1 The present invention is not limited to a specific stuck position or posture.

[0076] When the robot arm 1 is in the first mode, the second mode and the third mode, the first conversion circuit 81, the second conversion circuit 83 and the third conversion circuit 85 respectively convert the first analog power S61, the second analog power S63 and the third analog power S65 into a first digital power signal P1, a second digital power signal P2 and the like. Figure 4A third digital power signal P3. An operation circuit 75 of the controller 22 is coupled to the three conversion circuits 81, 83, and 85, and performs operations based on the respective power threshold signals to determine whether the states of the three digital power signals P1, P2, and P3 are normal; and detect whether the third digital power signal P3 exists, wherein the operation circuit 75 can be a comparator and can be selectively integrated into the control circuit 77. In other words, the controller 22 can detect whether the joint module 2 is connected to the second power supply 49. When the operation circuit 75 operates on the power supply, an operation signal S75 of the relevant power supply is generated (at this time, it is a power operation signal), or when the operation circuit 75 operates on the rotation speed, an operation signal S75 of the relevant speed is generated (at this time, it is a speed operation signal). For example, the decoder 71 of the controller 22 is coupled to the encoder 51, and after receiving and interpreting the sensing signal S51, it generates a decoding signal S71 to a calculator 73.

[0077] The calculator 73 receives the decoded signal S71 and generates a speed signal S73. The operation circuit 75 compares the speed signal S73 with a speed threshold signal and generates an operation signal S75 (i.e., a speed operation signal) of the relevant motor speed. Thus, the controller 22 generates a control signal S77 according to the speed operation signal S75, and the controller 22 is coupled to a signal output circuit 79 and outputs the control signal S77 to the signal output circuit 79, wherein the signal output circuit 79 may be a buffer. The signal output circuit 79 generates a switching signal S79 to the switching circuit 57 according to the control signal S77, and adjusts the power path to be turned on or off, so that the control circuit 77 controls the braking force of the solenoid valve 55 according to the sensing signal S51. The high level of the switching signal S79 turns on the power path of the switching circuit 57, and the low level of the switching signal S79 turns off the power path of the switching circuit 57, or other levels of the switching signal S79 can adjust the degree of conduction, such as 1 / 2 conduction or 1 / 3 conduction, etc. In other words, the switching circuit 57 is coupled to the signal output circuit 79 and receives the switching signal S79 to turn on or off the power path.

[0078] See also Figure 4 , which is a second schematic diagram of the joint module coupled to the power supply of the present invention. As shown in the figure, when the controller 22 detects that the speed and rotation position of the motor module 53 are different from the design or programming content output by the control box 4 (such as Figure 2 When the robot arm 1 cannot operate normally, an abnormal signal S21 (such as Figure 2) to the power controller 41 of the control box 4, and then the power controller 41 cuts off the second power VO2 of the second power circuit 63, or all the above operations are performed by the power controller 41. That is, the control circuit 77 is coupled to the operation circuit 75, and controls the robot arm 1 to change from the first mode to the second mode according to the speed operation signal S75, and cuts off the output of the second digital power signal P2.

[0079] In other words, the controller 22 notifies the control box 4 to cut off the output of the second power supply VO2, so Figure 4 The embodiment does not indicate the second power source VO2 and the second analog power source S63, that is, the second conversion circuit 83 is connected to the first power supply 43 via the second power supply circuit 63, but there is no electrical (voltage and current) transmission. At this time, the control box 4 (or the controller 22) controls the robot arm 1 to stop running and enter a second mode (i.e., a safety mode), that is, in the first mode and the second mode, the first power supply circuit 61 and the second power supply circuit 63 are coupled to the first power supply 43, and the first power supply circuit 61, the second power supply circuit 63 and the third power supply circuit 65 are in a circuit-breaking state with the second power supply 49.

[0080] In other words, if the operator finds that the robot arm 1 enters a dead point and cannot perform subsequent movements, and the control box 4 (or controller 22) cannot control the robot arm 1 to return to the previous movement point and become stuck, that is, the robot arm 1 cannot be maintained in the first mode, the control circuit 77 will first cut off the transmission of the second power supply VO2, and the operator will then couple the second power supply 49 to the third power supply circuit 65 of the joint module 2. Therefore, the third power supply circuit 65 transmits the third power supply VO3 when the robot arm 1 cannot be maintained in the first mode, that is, the third power supply circuit 65 is coupled to the second power supply 49 in a third mode. At this time, after the operation circuit 75 determines that the third power supply VO3 exists, the control circuit 77 controls the robot arm 1 to operate in the third mode (i.e., the escape mode). In other words, the control circuit 77 is coupled to the operation circuit 75, and controls the robot arm 1 to change from the second mode to the third mode according to the power operation signal S75.

[0081] In addition, due to Figure 4 The embodiment does not shut down and then restart the control box 4, so the first power supply VO1 is still continuously supplied and transmitted in parallel with the third power supply VO3 to the first power supply circuit 61, wherein the first power supply VO1 and the third power supply VO3 are designed to have the same voltage drop. Furthermore, because the first power supply VO1 is in a continuous supply state, the time taken to re-control the movement of the robot arm 1 to escape from the predicament will be shorter. Since the second power supply VO2 has been cut off and the third power supply VO3 is supplied to the joint module 2 instead, the braking force of the solenoid valve 55 is adjusted using the third analog power supply S65 (i.e., the third power supply VO3). In addition, the energy required for the operation of a motor was originally provided by the second analog power supply S63 (i.e., Figure 3 ) supply, but in the escape mode, for the safety of personnel and the robot arm 1 itself, the third analog power supply S65 (such as Figure 4-5 ) is supplied to the motor, that is, there is a line connection as shown in the figure, but no power source is marked. In other words, the controller 22 controls the braking force of the robot arm 1 in the first mode according to the second power source VO2; and the controller 22 controls the braking force of the robot arm 1 in the third mode according to the third power source VO3. In addition, the circuit design between the motor and the second power circuit 63 and the third power circuit 65 is not limited to the present invention and will not be described in detail.

[0082] Although the above embodiment describes that the operator manually connects the second power supply 49 and the driving circuit board 20 of the joint module 2, the above process can also be designed and programmed as a built-in escape function and stored in the control box 4 (or controller 22). For example, the second power supply 49 and the driving circuit board 20 are connected by other switching circuits (or switching switches). In this way, when the controller 22 determines that the robot arm 1 is operating abnormally or cannot operate based on the sensing signal S51, it can enter the third mode (escape mode) and conduct the power path between the second power supply 49 and the driving circuit board 20, which can also enable the robot arm 1 to escape. Therefore, it is within the scope of the present invention for the operator to manually connect the power required for escape, or for the control box 4 to conduct the power required for escape of the robot arm 1.

[0083] See also Figure 5 , which is the third schematic diagram of the joint module coupled to the power supply of the present invention. As shown in the figure, the input of the first power circuit 61 does not have the first power supply VO1 and the third power supply VO3 connected in parallel, but only the third power supply VO3 is transmitted to the first power circuit 61. In other words, the control box 4 has been turned off, and the solenoid valve 55 is initially set to a braking state when not powered, and the robot arm 1 will stop moving. Therefore, the energy for signal transmission and movement required by the joint module 2 and the robot arm 1 in the third mode (escape mode) are all provided by the second power supply 49. Among them, the third power supply VO3 supplies the power path of the switching circuit 57 and the energy required for the operation of the solenoid valve 55 in the motor module 53. Because this method requires signal initialization and establishment of a communication connection, it takes more time for the robot arm 1 to resume operation.

[0084] See also Figure 6, which is a flowchart of the present invention for judging whether the robot arm needs to be rescued. As shown in the flowchart, in step S1, the operation circuit 75 reads the values ​​of the first digital power signal P1, the second digital power signal P2 and the third digital power signal P3. Step S2, compare whether the third digital power signal P3 is between the power threshold signal P3a and the power threshold signal P3b, if not, go to step S3. In step S3, compare whether the first digital power signal P1 is between the power threshold signal P1a and the power threshold signal P1b, if not, go to step S4. In step S4, compare whether the second digital power signal P2 is between the power threshold signal P2a and the power threshold signal P2b, if still not, the entire control system has two or three power supply states abnormal, which is within the range of system power supply error 5. Among them, the control system may include a controller 22, a first power circuit 61, a second power circuit 63 and a third power circuit 65, or in addition to the aforementioned four devices, further include a control box 4; and each joint module 2 of the robot arm 1 includes a control system, and if the control system does not include a control box 4, it can be set on the driving circuit board 20. When a system power supply error occurs, subsequent processing such as error detection or shutdown for repair may be performed, which will not be elaborated here.

[0085] In step S4 , if the second digital power signal P2 is between the power threshold signal P2a and the power threshold signal P2b , there is a power abnormality in the control system, which is in the range of system power supply error 4 .

[0086] In step S3, if the first digital power signal P1 is between the power threshold signal P1a and the power threshold signal P1b, then go to step S8. In step S8, compare whether the second digital power signal P2 is between the power threshold signal P2a and the power threshold signal P2b. If not, it means that the robot arm 1 stops moving and enters the system safety mode. In step S8, if the second digital power signal P2 is between the power threshold signal P2a and the power threshold signal P2b, it means that the three power states of the control system are normal, and the robot arm 1 should be in normal operation, which belongs to the system normal mode.

[0087] In step S2, if the calculated third digital power signal P3 is between the power threshold signal P3a and the power threshold signal P3b, then go to step S5. In step S5, compare whether the first digital power signal P1 is between the power threshold signal P1a and the power threshold signal P1b. If not, go to step S6. In step S6, compare whether the second digital power signal P2 is between the power threshold signal P2a and the power threshold signal P2b. If not, there is an abnormal power state in the control system, which is within the range of system power supply error 3. In step S6, if the second digital power signal P2 is between the power threshold signal P2a and the power threshold signal P2b, it belongs to the range of system power supply error 2.

[0088] In step S5, if the first digital power signal P1 is calculated to be between the power threshold signal P1a and the power threshold signal P1b, then go to step S7. In step S7, compare whether the second digital power signal P2 is between the power threshold signal P2a and the power threshold signal P2b. If so, one or both of the third digital power signal P3 and the second digital power signal P2 in the control system may be in an abnormal power state, which is in the range of system power supply error 1. The abnormal power state mentioned above refers to the difference in the value of the digital power signal, which may be caused by a circuit fault or component failure in the power path, or an abnormality in the power supply.

[0089] In step S7 , if the second digital power signal P2 is not between the power threshold signal P2a and the power threshold signal P2b , it means that the robot arm 1 needs to enter the escape procedure and operate in the escape mode.

[0090] See also Figure 7 , which is a flow chart of assisting the robot arm to escape from trouble according to the present invention. When the control circuit 77 (or the control box 4) determines that the robot arm 1 needs to enter the escape procedure according to the calculation result of the calculation circuit 75. First, in step S90, the control circuit 77 of the joint module 2 can obtain the position of its own shaft arm 3 (or joint module 2) in the robot arm 1 from a storage circuit. For example, the storage circuit stores the code of the joint module 2 as the first joint module (such as 0001), that is, the code of the first shaft arm 3. By analogy, the code of the second shaft arm 3 (or the second joint module 2) can be 0010, and the code of the third shaft arm 3 can be 0011.

[0091] Step S91, start accumulating count Cnt=Cnt+1, and output count value, which can be counted by control circuit 77, or counted by another counting circuit (or counter), which is not limited by the present invention. Step S92, determine whether the count value Cnt is greater than N*A, N is its own position, and A is the delay ratio of each axis arm 3 (or each joint module 2) for the initial setting of brake release. For example, the first axis arm 3 has no delay and A is 1, while the second axis arm 3 is delayed 1 times more than the first axis arm 3, and A is 2. Or, when the third axis arm 3 is delayed 4 times more than the first axis arm 3, A is 4. In other words, the delay ratio of each axis arm 3 is not limited to the same, and it can be adjusted according to the load of the arm. For example, the delay ratio of each axis arm 3 (or joint module 2) of a large arm has a higher increase, and the delay ratio of each axis arm 3 of a small arm has a relatively low increase, so as to achieve a staggered order of brake release. Therefore, when counting the first shaft arm 3, the count Cnt>N*1; and when counting the second shaft arm 3, Cnt>N*2, and so on. If Cnt is not greater than N*A, the process returns to step S91 to continue counting.

[0092] In step S93, when the count Cnt exceeds N*A, the control circuit 77 controls the switching signal S79 to be high level to release the brake of the solenoid valve 55, and provides the operator with an auxiliary method to move the robot arm 1 by hand and leave the stuck dead point position. In step S94, in order to make the robot arm 1 out of trouble and meet the safety standards of the operator, the calculator 73 simultaneously continues to read the speed S of the motor rotation of the joint module 2 according to the encoder 51 and the decoder 71. In step S95, if the speed S of the motor rotation is continuously lower than a speed threshold Sc, then return to step S94 to continuously detect the speed S of the motor rotation. If the speed S of the motor rotation is higher than the speed threshold Sc, then go to step S96. In step S96, the control circuit 77 controls the switching signal S79 to be low level to start the brake of the solenoid valve 55. Thereafter, in step S97, the counter (i.e., the count value Cnt) is reset to zero. If the brake is started early due to safety concerns before the self-axis arm 3 is out of trouble, then return to step S91 and resume counting. Therefore, the design of steps S90 to S93 staggers the release sequence of each axis arm 3 to reduce the power consumption when getting out of trouble. The design of steps S94 to S96 monitors the speed of the motor module 53 and appropriately adjusts the braking force of the solenoid valve 55, that is, adjusts the braking force of the joint module 2, so that the operator can safely move the robot arm 1 out of the dead point.

[0093] In other words, the control system controls the robot 1 to operate in the first mode according to the first digital power signal P1 and the second digital power signal P2. When the robot 1 cannot be maintained in the first mode, the control system (or controller 22) controls the robot 1 to change from the first mode to the second mode, and cuts off the second digital power signal P2 to control the robot 1 to operate in the second mode; in other words, when the control system cannot control the robot 1 to maintain the first mode, the output of the second digital power signal P2 is cut off. After that, the operator connects the third power circuit 65 and the second power supply 49, so that the third conversion circuit 85 outputs the third digital power signal P3 when the control system cannot control the robot 1 to maintain the first mode; then the control system controls the robot 1 to operate in the third mode according to the third digital power signal P3, and after the controller 22 releases the braking force of the joint module 2 according to the third power VO3, that is, controls the joint module 2 to release the brake, the operator guides the robot 1 to move.

[0094] In summary, the control system of the robot arm of the present invention comprises a first conversion circuit, a second conversion circuit and a third conversion circuit. The first conversion circuit outputs a first digital power signal when the robot arm is in a first mode. The second conversion circuit outputs a second digital power signal when the robot arm is in the first mode; when the control system cannot control the robot arm to maintain the first mode, the output of the second digital power signal is stopped. The third conversion circuit outputs a third digital power signal when the control system cannot control the robot arm to maintain the first mode.

[0095] Among them, the control system controls the robotic arm to operate in the first mode according to the first digital power signal and the second digital power signal; the control system cuts off the second digital power signal and controls the robotic arm to operate in the second mode; the control system controls the robotic arm to operate in the third mode according to the third digital power signal, and releases the braking force of a joint module.

[0096] Furthermore, the driving circuit board of the robot arm of the present invention includes a first power circuit, a second power circuit and a third power circuit. The first power circuit transmits a first power; the second power circuit transmits a second power, and the robot arm moves in a first mode according to the first power and the second power; when the robot arm cannot maintain the first mode, the transmission of the second power is stopped; and when the robot arm cannot maintain the first mode, the third power circuit transmits a third power.

[0097] In the first mode and the second mode, the first power circuit and the second power circuit are coupled to a first power supply; in the third mode, the third power circuit is coupled to a second power supply.

[0098] Among them, each joint module of the robotic arm includes a driving circuit board, and a controller is arranged on the driving circuit board. The controller controls the braking force of the robotic arm in the first mode according to the second power supply; the controller controls the braking force of the robotic arm in the third mode according to the third power supply.

[0099] Among them, when the robotic arm cannot maintain the first mode, the controller controls the robotic arm to change from the first mode to the second mode, an operator connects the third power circuit and a second power supply, and after the controller controls the joint module to release the brake according to the third power supply, the operator guides the robotic arm to move.

[0100] The above description is only for the convenience of explaining the embodiments of the present invention. The scope of the present invention is not limited to the embodiments. Any changes made according to the present invention, without departing from the spirit of the present invention, shall fall within the scope of the patent application of the present invention.

Claims

1. A control system for a robotic arm, comprising: A first conversion circuit, which outputs a first digital power signal when the robot arm is in a first mode; A second conversion circuit outputs a second digital power signal when the robot arm is in the first mode, and stops outputting the second digital power signal when the control system cannot control the robot arm to maintain the first mode; and The third conversion circuit outputs a third digital power signal when the control system cannot control the robot arm to maintain the first mode.

2. The control system of the robotic arm as described in claim 1, wherein the control system controls the robotic arm to operate in the first mode according to the first digital power signal and the second digital power signal; the control system cuts off the second digital power signal and controls the robotic arm to operate in the second mode; the control system controls the robotic arm to operate in the third mode according to the first digital power signal and the third digital power signal, thereby releasing the braking force of the joint module.

3. The control system of the robotic arm as described in claim 2, wherein the first mode is a normal mode, the second mode is a safety mode, and the third mode is an escape mode.

4. The control system of the robotic arm as described in claim 1, wherein the control system controls the robotic arm to operate in the first mode according to the first digital power signal and the second digital power signal; the control system cuts off the second digital power signal to control the robotic arm to operate in the second mode; and the control system controls the robotic arm to operate in the third mode according to the third digital power signal to release the braking force of the joint module.

5. The control system of the robot arm as claimed in claim 1, comprising: A signal output circuit is coupled to the control circuit and outputs a switching signal according to the control signal; and The switching circuit is coupled to the signal output circuit and receives the switching signal to turn on or off the power path.

6. The control system of the robot arm as claimed in claim 5, comprising: A decoder receives the sensing signal, interprets the sensing signal and outputs a decoded signal; a calculator, coupled to the decoder, receiving the decoded signal, and generating a speed signal according to the decoded signal; and An operation circuit is coupled to the calculator, receives the speed signal, compares the speed signal with a speed threshold signal, and generates a speed operation signal; in, The switching circuit turns on or off the power path according to the speed operation signal.

7. The control system of the robot arm as claimed in claim 1, comprising: A decoder receives the sensing signal, interprets the sensing signal and outputs a decoded signal; a calculator, coupled to the decoder, receiving the decoded signal, and generating a speed signal according to the decoded signal; and an operation circuit coupled to the third conversion circuit, receiving the third digital power signal, comparing the third digital power signal with the power threshold signal, and generating a power operation signal; coupled to the calculator, receiving the speed signal, the operation circuit comparing the speed signal with the speed threshold signal, and generating a speed operation signal; and The control circuit is coupled to the operation circuit, controls the robot arm to change from the first mode to the second mode according to the speed operation signal and cuts off the output of the second digital power signal; and controls the robot arm to change from the second mode to the third mode according to the power operation signal.

8. The control system of the robotic arm as claimed in claim 7, wherein each joint module of the robotic arm comprises the control system, and the control system is disposed on a driving circuit board.

9. A driving circuit board for a robotic arm, comprising: A first power circuit, transmitting a first power supply; A second power circuit transmits a second power, and the robot arm moves in a first mode according to the first power and the second power; when the robot arm cannot maintain the first mode, the transmission of the second power is stopped; and The third power circuit transmits a third power when the robot arm cannot maintain the first mode.

10. The driving circuit board of the robot arm as described in claim 9, wherein in the first mode and the second mode, the first power circuit and the second power circuit are coupled to the first power supply; in the third mode, the third power circuit is coupled to the second power supply. 11 . The driving circuit board of the robot arm as claimed in claim 9 , wherein in the first mode and the second mode, the first power circuit, the second power circuit and the third power circuit are in an open circuit state with the second power supply.

12. A driving circuit board of a robotic arm as described in claim 9, wherein each joint module of the robotic arm includes the driving circuit board, and a controller is arranged on the driving circuit board, and the controller controls the braking force of the robotic arm in the first mode according to the second power supply; and the controller controls the braking force of the robotic arm in the third mode according to the third power supply.

13. A driving circuit board of a robotic arm as described in claim 12, wherein when the robotic arm cannot maintain the first mode, the controller controls the robotic arm to change from the first mode to the second mode, and an operator connects the third power circuit and the second power supply. After the controller controls the joint module to release the brake according to the third power supply, the operator guides the robotic arm to move.

Images