Robot arm shutdown system

Abstract

We provide a shutdown system for robotic arms. [Solution] The robot arm shutdown system comprises an uninterruptible power supply (UPS), a robot arm, and a system operating device. The UPS receives power and generates system power. The system operating device is connected to the UPS and the robot arm and has a designated shutdown time. The system operating device detects the power supply status and generates data for the basic operating process by controlling the operation of the robot arm. When a voltage drop suddenly occurs in the power supply, if the abnormal condition persists and the designated shutdown time is reached, the shutdown process is initiated. The shutdown process involves the system operating device saving the data for the basic operating process when there is no time-series change in the watchdog signal of the system operating device, calculating the shutdown delay time, and shutting down the UPS when the countdown of the shutdown delay time is complete.

Description

Technical Field

[0001] The present invention relates to a robot arm system, particularly a shutdown system for a robot arm.

Background Art

[0002] Currently, in order to improve the efficiency of manufacturing, transportation, and conveyance operations and to address the problem of labor shortages, it is common to introduce a large number of robot arms into production, transportation, and conveyance operations. When operating a robot arm, a system operating device generates an operating stroke and instructions for the robot arm according to the situation and needs of the working environment.

[0003] When system maintenance is required, the robot arm and the system operating device must be shut down. However, after shutting down the system without ensuring the completion of data writing or recording of operating data, the restarted system operating device cannot surely grasp the stop position of the robot arm before shutdown, which may cause operation errors during subsequent operations and, in serious cases, pose a danger.

[0004] If an operation error occurs during normal shutdown processing, or if a problem occurs where shutdown is forced due to an accidental operation of a switch or an abnormal momentary power outage, not only will the system not surely complete data writing or recording of operating data, but it may also damage the robot arm and reduce the service life of the system operating device.

Summary of the Invention

Problems to be Solved by the Invention

[0005] In view of the above-mentioned problems, the main objective of the present invention is to provide a robot arm shutdown system that can determine the power supply when shutting down under normal or abnormal conditions, delay the time to ensure that data writing or recording of operational data is completed before shutting down, and at the same time improve the stability and reliability of system operation. [Means for solving the problem]

[0006] To address the aforementioned challenges, the robot arm shutdown system comprises an uninterruptible power supply (UPS), a robot arm, and a system operator. The UPS receives power and generates system power. The system operator is connected to the UPS and the robot arm and has a designated shutdown time. The system operator detects the power supply status and generates data for the basic operating process by controlling the robot arm's operation. When a sudden voltage drop occurs in the power supply, and this abnormal condition persists until the designated shutdown time is reached, the shutdown process is initiated. The shutdown process involves the system operator saving the basic operating process data when there is no time-series change in the watchdog signal of the system operator, calculating the shutdown delay time, and shutting down the UPS when the countdown of the shutdown delay time is complete.

[0007] In summary, in the robot arm shutdown system according to the present invention, the system operating device determines whether or not to shut down based on the power supply status, and simultaneously proceeds with the shutdown process based on the watchdog signal status to reliably save data of the basic operating process. After the data saving is complete, the uninterruptible power supply is shut down to ensure system stability. [Brief explanation of the drawing]

[0008] [Figure 1] This is a schematic diagram showing a robot arm shutdown system according to one embodiment of the present invention. [Figure 2]This is a schematic diagram showing the construction of the system operating equipment in Figure 1. [Figure 3] Figure 2 is a schematic diagram showing the time series of the watchdog signal from startup to shutdown. [Figure 4] Figure 2 is an electronic circuit diagram showing the combined hardware of the system operating device. [Figure 5] This is another electronic circuit diagram combining the hardware of the system operating device shown in Figure 2. [Modes for carrying out the invention]

[0009] (One embodiment) As shown in Figure 1, the robot arm shutdown system 100 includes an uninterruptible power supply 10, a robot arm 30, and a system operating device 50.

[0010] The uninterruptible power supply (UPS) 10 receives power from the power source 70 and generates system power. Power source 70, i.e., city power, supplies AC current. The UPS 10 supplies stabilized system power by stabilizing the AC current of power source 70.

[0011] The robotic arm 30 performs tasks according to the work environment, such as multi-axis motion production management, manufacturing, or transport. The robotic arm 30 can meet various work needs through its multi-axis motion.

[0012] The system operator 50 is connected to the uninterruptible power supply 10 and the robot arm 30, and has a designated shutdown time. The system operator 50 detects the status of the power supply 70 and generates data for the basic operating process by controlling the operation of the robot arm 30. The system operator 50 detects the status of the power supply at the point where the uninterruptible power supply 10 and the power supply are connected, and understands the supply status of the power supply 70. The basic operating process data records not only information, instructions, and signals related to the operation of the system operating device 50, but also information, instructions, motor operation, and signals related to the operation of the robot arm 30. As a result, after restarting, the system operating device 50 can operate normally and start from the robot arm 30's stopping position.

[0013] When the voltage of the power supply 70 suddenly drops, i.e., a power outage occurs, due to a normal shutdown, trip, power failure, power contamination, or system malfunction, the restarted robot arm 30 and system operating device 50 can operate normally if the data of the basic operating process before the shutdown is backed up in order to stabilize the operating state of the robot arm 30 shutdown system 100. The shutdown system includes a relay (not shown in the diagram). The relay is connected to power supply 70. When the voltage suddenly drops due to a normal shutdown or switch trip, the relay switches from supply mode to power-off mode, cutting off the power supply path of power supply 70.

[0014] When a voltage drop suddenly occurs in the power supply, and this abnormal condition persists until the designated shutdown time is reached, the shutdown process is initiated. The shutdown process involves the system operator 50 saving the data of the basic operating process when there is no time-series change in the watchdog signal 511 of the system operator 50, calculating the shutdown delay time, and triggering the uninterruptible power supply 10 when the countdown of the shutdown delay time is complete. In other words, in the event of an unstable power supply or an abnormal situation, the robot arm shutdown system according to the present invention can reliably save the data of the basic operating process before shutdown and then perform a normal shutdown thanks to the technical features described above.

[0015] The system operator 50 adjusts the shutdown procedure based on the time-series changes in the watchdog signal 511. If the time-series changes in the watchdog signal 511 persist, the system operator 50 delays authorizing the shutdown procedure. If there are no time-series changes in the watchdog signal 511, the system operator 50 shuts off the uninterruptible power supply 10 by counting down the shutdown delay time.

[0016] As shown in Figure 2, the system operator 50 includes a control core 51, a clock judgment module 53, a latch module 55, a count module 57, and a trip module 59. The control core 51 catches the power state and transmits a watchdog signal 511, and proceeds with the shutdown operation based on the power state. The control core 51 can flexibly set and adjust the shutdown time according to various needs.

[0017] The shutdown process involves delaying the shutdown of the watchdog signal 511 by the control core 51, thereby sustaining the time-series changes of the watchdog signal 511 during the delay period. When the delay period is reached, the control core 51 is instructed to stop the watchdog signal 511, and at the same time, it is determined whether or not the time-series changes of the watchdog signal 511 have stopped. Subsequently, the uninterruptible power supply 10 is shut down by counting down the delay period.

[0018] The shutdown process also includes shutting off the watchdog signal 511 of the control core 51 to eliminate the time-series changes in the watchdog signal 511, and then shutting off the uninterruptible power supply 10 by counting down the delay time. The difference between the direct shutdown method and the delayed shutdown method lies in the shutdown time of the watchdog signal 511. In the case of delayed shutdown, the time is determined by the firmware of the control core 51, for example, the system operating device 50.

[0019] The watchdog signal 511 is a continuous clock signal, for example, a clock signal in the form of a rectangular wave. The shutdown operation further includes not generating a time-series transition in the watchdog signal 511, that is, outputting a continuous low-level (for example, 0) signal or a continuous high-level (for example, 1) signal. The clock determination module 53 is connected to the control core 51 and monitors the watchdog signal 511. In the shutdown operation, if the time-series transition of the watchdog signal 511 does not occur within one monitoring period, the clock determination module 53 outputs a trigger signal. The latch module 55 connected to the clock determination module 53 generates a status signal according to the trigger signal. The count module 57 connected to the latch module 55 and the uninterruptible power supply device 10 calculates the shutdown delay time based on the status signal. When the countdown of the shutdown delay time is completed, the uninterruptible power supply device 10 is shut down, and the shutdown operations of the robot arm �0 and the system operating device 50 are completed.

[0020] The trip module 59 is connected to the uninterruptible power supply device 10 and the latch module 55, and has a startup delay time. When the system operating device 50 starts up, the trip module 59 controls the reset of the latch module 55 and ignores the watchdog signal 511. When the countdown of the startup delay time is completed, the latch module monitors the trigger signal, so that the situation where the system operating device 50 fails to start up due to the latch module 55 misjudging the watchdog signal 511 can be avoided. In other words, the system operating device 50 and the robot arm 30 can be started up by the trip module 59. The startup delay time of the trip module 59 is related to the charging time of the energy storage unit 593. That is, the startup delay time can be adjusted by the energy storage unit 593.

[0021] FIG. 3 is a schematic diagram showing the time series of the watchdog signal from startup to shutdown. The startup time series is indicated by reference numeral T1. At this time, since the control core 51 has not yet output the watchdog signal 511 corresponding to the clock change, the trip module 59 performs the startup operation. The time series during normal operation is indicated by reference numeral T2. At this time, since the control core 51 outputs the watchdog signal 511 corresponding to the clock change, the system operating device 50 and the robot arm 30 can operate normally. The shutdown time series is indicated by reference numeral T3. At this time, the control core 51 proceeds with the shutdown operation and outputs the watchdog signal 511 in which no time series transition change occurs. That is, as shown in the figure, the signal is maintained at a low level and no time series change occurs. When a surge occurs during the shutdown operation, the latch module 55 locks the status signal, so that the control core 51 does not mistake the surge for a startup signal and restart, and completes the current shutdown.

[0022] As shown in FIG. 4, the clock determination module 53 includes a clock comparator 531, two voltage dividing resistors 533 and 535, and a monitoring integrated circuit (for example, MAX6369KA+T) 537. The positive-phase input terminal of the clock comparator 531 is connected to the control core 51 to catch the watchdog signal 511. The negative-phase input terminal of the clock comparator is connected to the voltage dividing resistors 533 and 535 connected in series to detect the reference voltage. The output terminal of the clock comparator 531 is connected to the monitoring integrated circuit 537 to monitor the watchdog signal 511.

[0023] The latch module 55 has a latch integrated circuit 551, a first transistor 553, and a second transistor 555. The latch integrated circuit 551 (e.g., 74HC107PW) is connected to the gate of the monitoring integrated circuit 537 and the first transistor 553. The source of the first transistor 553 is connected to the ground terminal, and its drain is connected to the gate of the second transistor 555. The drain of the second transistor 555 is connected to the ground terminal. The first transistor 553 is an NMOS transistor. The second transistor 555 is a PMOS transistor.

[0024] The count module 57 includes an input switch 571, a count comparator 573, a count transistor 575, and a count capacitor 577. The input switch 571 has a common terminal 5711, a ground terminal 5713, and a floating terminal 5715. The input switch 571 is connected to a power supply 70 (e.g., a relay) and the power supply state V 70 Based on this, it switches to the ground terminal 5713 or the floating terminal 5715. The count comparator 573 has a positive-sequence input terminal, a negative-sequence input terminal and an output terminal. The positive-sequence input terminal and the negative-sequence input terminal are connected to the reference power supply. The negative-sequence input terminal is connected to the common terminal 5711. In this embodiment, the count transistor 575 is a PMOS. The train of the count transistor 575 is connected to the source of the first transistor 553 of the latch module 55 to catch the status signal. The source of the count transistor 575 is connected to the uninterruptible power supply 10 and to the output terminal of the count comparator 573 via a resistor. The gate of the count transistor 575 is connected to the output terminal of the count comparator 573. The count capacitor 577 has its reverse-phase input terminal and ground terminal connected in series.

[0025] The trip module 59 includes a trip comparator 591, an energy storage unit 593, a diode 595, and a trip transistor 597. The trip comparator 591 detects a reference voltage via its positive-sequence input terminal. The parameters of the reference voltage are adjusted by two resistors at the positive-sequence input terminal of the trip comparator 591. The energy storage unit 593 (e.g., a capacitor) has one end connected to the ground terminal and the other end connected to the negative-sequence input terminal of the energy storage unit 593. The diode 595 has its positive terminal connected to the energy storage unit 593 and the input voltage source, and its negative terminal connected to the uninterruptible power supply 10. The trip comparator 591 has its output terminal connected to the gate of the trip transistor 597, and its source connected to the ground terminal. The source of the trip transistor 597 is connected to the latch module 55. The trip transistor 597 is an NMOS transistor.

[0026] When power is turned on, the negative terminal of diode 595 detects the power supply and rises to a high level, charging the energy storage unit 593 with the input voltage source. The trip comparator 591 compares the charging voltage of the energy storage unit 593 with the reference voltage at the positive-sequence input terminal of the trip comparator 591. If the charging voltage is lower than the reference voltage, the trip comparator 591 resets the latch module 55 by conducting the trip transistor 597 and ignoring the watchdog signal 511. In contrast, the first transistor 553 and the second transistor 555 of the latch module 55 are in the off state.

[0027] When the charging voltage and the reference voltage are the same, the trip comparator 591 turns off the trip transistor 597 and releases the latch module 55 from the reset state, allowing the state of the watchdog signal 511 to be properly monitored. Furthermore, the startup delay time can be effectively adjusted by referencing the charging time of the energy storage unit 593. In short, the present invention can accommodate different system startup conditions.

[0028] During startup, the input switch 571 of the count module 57 is switched to the ground terminal, and the count comparator 573 is at a low level. However, the positive-sequence input terminal of the count comparator 573 is at a high level, so the output terminal of the count comparator 573 does not trigger the count transistor 575 and remains in the off state, thus avoiding the operation of the count module 57 and the latch module 55 during startup. The count capacitor 577 is not charged and is connected to the trip transistor 597 to discharge electricity.

[0029] After startup, the control core 51 proceeds to the software system of the system operating device 50. The clock comparator 531 of the clock judgment module 53 detects the time-series transition of the watchdog signal 511 via its positive-phase input terminal, for example, the period of transitions between high levels (e.g., 0.5 seconds) and low levels (e.g., 0.5 seconds) of the watchdog signal 511, and transmits the corresponding signal to the monitoring integrated circuit 537.

[0030] When the robot arm 30 and the system operating device 50 are operating normally and a voltage drop suddenly occurs in the power supply 70, that is, when the power supply 70 is interrupted, tripped, or experiences a power outage, if the abnormal time of the sudden voltage drop persists and reaches the designated shutdown time, the control core 51 proceeds with the shutdown process and the clock judgment module 53 monitors the watchdog signal 511. If no time-series change occurs in the watchdog signal 511 within the monitoring period (e.g., 1 second), the clock judgment module 53 outputs a trigger signal. The monitoring integrated circuit 537 generates a status signal in response to the trigger signal. In this embodiment, the trigger signal is related to the signal transition. If the time-series transition of the watchdog signal 511 is sustained, the trigger signal is maintained at the normal level. If the time-series transition of the watchdog signal 511 does not occur within the monitoring period (e.g., 1 second) of the monitoring integrated circuit 537, the trigger signal shifts from the normal level to another level. The latch integrated circuit 551 generates a stake signal, causing the first transistor 553 and the second transistor 555 to conduct, so that the system operator 50 cannot be restored to its current state.

[0031] If a voltage drop suddenly occurs in the power supply 70, and at the same time the input switch 571 of the count module 57 is switched from the ground terminal 5713 to the floating terminal, and the count capacitor 577 is charged to the target voltage, the count comparator 573 shuts down the uninterruptible power supply 10 by conducting the count transistor 575. The time it takes for the count capacitor 577 to charge to the target voltage, i.e., the shutdown delay time, allows the robot arm 30 and the system operating device 50 to proceed with saving data for the basic operating process and the shutdown operation.

[0032] When the power is turned off or a sudden voltage drop occurs, the robot arm shutdown system 100 according to the present invention activates a shutdown program via the control core 51 and continuously outputs a time-series watchdog signal 511 to maintain the operation of the system operator 50. When the control core 51 stops continuously outputting the time-series watchdog signal 511, the shutdown process is carried out by the count module 57 of the system operator 50, thus preventing a momentary power outage to the system operator 50 due to a power outage or a sudden voltage drop.

[0033] In another embodiment, the clock decision module 53 is not limited to the above, and instead of the monitoring integrated circuit 537, it may employ a hardware circuit consisting of a combination of logic gates or another active unit. As shown in Figure 5, the clock determination module 53 includes OPA1 (first operational amplifier), OPA2 (second operational amplifier), NOT1 (first inverter), and an OR gate. The output terminal of the clock comparator 531 is connected to the positive-phase input terminal of OPA1 (first operational amplifier) ​​and the input terminal of NOT1 (first inverter). The output terminal of NOT1 (first inverter) is connected to the positive-phase input terminal of OPA2 (second operational amplifier). The output terminals of OPA1 (first operational amplifier) ​​and OPA2 (second operational amplifier) ​​are connected to the input terminal of the OR gate. The output terminal of the OR gate is connected to the latch module 55.

[0034] In another embodiment, the latch module 55 is not limited to the above and may employ a hardware circuit consisting of a combination of logic gates or another active unit instead of the latch integrated circuit 551. For example, the latch module 55 has NAND1 (first NAND gate), NAND2 (second NAND gate), AND1 (first AND gate), AND2 (first AND gate), NOR1 (first NOR gate), NOR2 (second NOR gate), and NOT2 (second inverter). As shown in Figure 5, the input terminals of NAND1 (first NAND gate) and NAND2 (second NAND gate) are connected to the output terminals of the OR gates. Another input terminal of NAND2 (second NAND gate) is connected in series with NOT2 (second inverter). The input terminal of NOT2 (second inverter) is connected to a voltage. AND1 (first AND gate) has an input terminal connected to the ground terminal and another input terminal connected to the output terminal of NAND1 (first NAND gate). NOR1 (first NOR gate) has its input terminal connected to the output terminal of AND1 (first AND gate), and another input terminal connected to the output terminal of NOR2 (second NOR gate). AND2 (first AND gate) has its input terminal connected to trip module 59, and another input terminal connected to the output terminal of NAND2 (second NAND gate). NOR2 (second NOR gate) has its input terminal connected to the output terminal of AND2 (first AND gate), and another input terminal connected to the output terminal of NOR1 (first NOR gate). The output terminal of NOR2 (second NOR gate) is connected to the gate of the first transistor 553.

[0035] When the time-series watchdog signal 511 is at a low level, NOT1 (first inverter) is set to a high level, and the OR gate continuously outputs a high-level signal, so the latch module 55 does not generate a status signal. If the watchdog signal 511 does not change, for example, transitioning from low level (0.5 seconds) to low level (0.5 seconds) or from high level (0.5 seconds) to high level (0.5 seconds), the output of the OR gate shifts to a low level, triggering the first transistor 553 by causing the latch module 55 to generate a status signal.

[0036] In another embodiment, the clock determination module 53 and the latch module 55 are not limited to those described above, and a system may be employed in which the same functions are performed by other active or passive electronic units.

[0037] In summary, the robot arm shutdown system 100 according to the present invention determines whether or not to proceed with system shutdown based on the power supply status. When shutdown begins, the watchdog signal 511 determines whether to shut down the hardware. When shutting down the hardware, a shutdown delay time is provided to allow time for writing or saving data for the basic operating process. Once the countdown of the shutdown delay time is complete, the uninterruptible power supply is shut down, thereby improving the reliability and stability of the operating system. [Explanation of Symbols]

[0038] 100 Shutdown Systems 10 Uninterruptible power supply 30 Robot Arms 50 System Operating Equipment 51 control cores 511 Watchdog signal 53 Clock judgment module 531 Clock Comparator 533, 535 Voltage divider resistors 537 Monitoring Integrated Circuit 55 Latch Module 551 Latch Integrated Circuit 553 First Transistor 555 Second transistor 57 Count Module 571 Input Switch 5711 Common terminal 5713 Ground terminal 5715 Floating terminal 573 Count Comparator 575 count transistors 577 Count Capacitor 59 Trip Module 591 Trip Comparator 593 Energy Storage Unit 595 diode 597 Trip Transistor 70 Power supply OPA1 First operational amplifier OPA2 Second operational amplifier NOT1 First Inverter OR OR Gate NAND1 First NAND Gate NAND2 Second NAND Gate AND1 First AND Gate AND2 First AND Gate NOR1 First NOR Gate NOR2 Second NOR Gate NOT2 Second Inverter

Claims

1. Equipped with an uninterruptible power supply, a robotic arm, and a system operating device, The aforementioned uninterruptible power supply receives power and generates system power. The system operating device is connected to the uninterruptible power supply and the robot arm, and has a designated shutdown time. The system operating device detects the state of the power supply and generates data for the basic operating process by controlling the operation of the robot arm. When a voltage drop suddenly occurs in the power supply, if the abnormal condition persists and the specified shutdown time is reached, the system operating device initiates the shutdown process. The shutdown procedure is characterized in that, when no time-series change occurs in the watchdog signal of the system operator, the system operator saves the data of the basic operation process, calculates the shutdown delay time, and shuts down the uninterruptible power supply when the countdown of the shutdown delay time is completed. A shutdown system for a robotic arm.

2. The robot arm shutdown system according to claim 1, characterized in that the shutdown operation includes delaying the shutdown of the watchdog signal, sustaining the time-series changes of the watchdog signal within the delay period, and stopping the time-series changes of the watchdog signal once the countdown of the delay period is completed.

3. The system operating device comprises a control core, a clock determination module, a latch module, and a count module. The control core catches the power status and transmits the watchdog signal, and initiates the shutdown operation. The clock determination module is connected to the control core and monitors the watchdog signal, and has a monitoring period. In the shutdown procedure described above, if the time-series progression of the watchdog signal does not occur within the monitoring period, the clock determination module outputs a trigger signal. The latch module is connected to the clock determination module and generates a status signal in response to the trigger signal. The count module is connected to the latch module and the uninterruptible power supply, and has a shutdown delay time. The robot arm shutdown system according to claim 2, characterized in that the count module calculates the shutdown delay time based on the status signal, and shuts down the uninterruptible power supply when the countdown of the shutdown delay time is completed.

4. The count module comprises a count capacitor, an input switch, a count comparator, and a count transistor, and the shutdown delay time is defined by the charging time of the count capacitor. The input switch has a common terminal, a ground terminal, and a floating terminal. The input switch is connected to the power supply and switches to the ground terminal or the floating terminal based on the power supply state. The count comparator has a positive-sequence input terminal, a negative-sequence input terminal, and an output terminal. The positive-sequence input terminal and the negative-sequence input terminal are connected to a reference power supply, and the negative-sequence input terminal is connected to the common terminal. The count capacitor is connected to the reverse-phase input terminal and the ground terminal. The robot arm shutdown system according to claim 3, characterized in that, in the count transistor, the train is connected to the latch module to catch the status signal, the source is connected to the uninterruptible power supply, and the gate is connected to the output terminal of the count comparator.

5. The system operating device further has a trip module, the trip module is connected to the uninterruptible power supply and the latch module, and has a startup delay time. When the system operating device starts up, the trip module controls the reset of the latch module and ignores the watchdog signal. The robot arm shutdown system according to claim 3, characterized in that the latch module monitors the trigger signal once the countdown of the startup delay time is completed.

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