Robot External Shaft Pulse Control for Synchronous Motor Output
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Solution Overview
Problem
Existing robot control systems limit the capability of peripheral equipment by restricting the rated output of external shaft motors, and synchronous operation with the robot is hindered by signal conversion delays in communication protocols.
Innovation Solution
A robot control system that includes robot control circuitry generating a control command value for an external shaft, a pulse generator converting the rotation amount into a pulse number, and motor control circuitry controlling the external motor based on this pulse number, eliminating the need for signal conversion processing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If communication protocol signal conversion is used to control external motor, then the external motor can be controlled, but signal conversion delay and transmission delay occur making synchronous operation difficult
Solution Approach 1:
The patent extracts and removes the communication protocol signal conversion processing from the control path. By having the robot control circuit directly generate pulse signals that are fed directly to the external motor without intermediate communication protocols, the signal conversion delay is eliminated while maintaining external motor control capability.
2Stability of the object's composition
If one robot controller controls both robot shaft and external shaft, then synchronous control is achieved, but the capability of peripheral equipment is limited by robot specification
Solution Approach 1:
The patent segments the control system into independent components: the robot control circuit generates control commands, the pulse generator converts these to pulse signals, and the external motor executes based on pulse counting. This segmentation allows the external motor capability to be independent of robot specifications while maintaining synchronous control through shared pulse signal generation.
3Ease of manufacture
If external shaft motor rated output is limited by robot shaft specification, then system compatibility is maintained, but peripheral equipment capability is restricted
Solution Approach 1:
The patent changes the control parameter from analog voltage/current signals with fixed rated output limitations to pulse signal counting. The external motor's rated output can now be independently specified based on peripheral equipment requirements rather than being constrained by robot shaft specifications, while the pulse-based control maintains system compatibility.
Data Source
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AI summary
A robot control system includes: robot control circuitry that controls driving of a robot shaft of a robot and generates a control command value for an external shaft different from the robot shaft; an external motor; motor control circuitry that controls the external motor; and a pulse generator that converts a rotation amount of the external shaft, which is based on the control command value, into a pulse number corresponding to the rotation amount, and the motor control circuitry controls an output of the external motor based on a count number obtained by counting the pulse number obtained by the pulse generator.