Integrated Drive Unit Control for Reprogrammable Robot Grippers
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Solution Overview
Problem
Existing drive units for automation components, such as gripping and pivoting units, are inflexible and not suitable for human-robot cooperation due to their inability to be reprogrammed and lack of redundancy in control systems, which limits their adaptability and safety in dynamic environments.
Innovation Solution
A drive unit equipped with a computing device running a higher programming language operating system, allowing for flexible programming and redundant data processing, eliminating the need for a separate motor controller, and integrating sensors for real-time monitoring and control, enabling direct control of electric drives and ensuring functional safety in human-robot cooperation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If control units and motor controllers are separately formed with fixed programming, then the system provides stable control functionality, but the system lacks flexibility and cannot be reprogrammed for changing requirements
Solution Approach 1:
The patent merges the control unit and motor controller into a single integrated device. The control unit includes a microcontroller that directly generates motor control signals without requiring a separate motor controller, thereby eliminating the need for separate power electronics components and reducing overall system complexity while maintaining full control functionality
Solution Approach 2:
The control unit is designed with universal functionality to perform both control and motor control tasks. The microcontroller can execute different programming languages (C, C++, Python) and implement various control strategies (PID, fuzzy logic, neural networks), making the single device adaptable to multiple applications and changing requirements
2Adaptability or versatility
If control units are programmed at the lowest programming level, then the system provides precise control, but the system cannot be reprogrammed after installation or requires great effort to reprogram
Solution Approach 1:
The control unit employs dynamic reconfigurability through support for multiple programming languages and development environments. The microcontroller can be programmed post-manufacturing using standard tools and languages like C, C++, or Python, allowing the system to adapt to changing requirements without requiring complex reprogramming efforts or specialized low-level programming knowledge
Solution Approach 2:
The patent introduces an intermediary layer in the form of a development environment that sits between the user and the microcontroller. This environment provides high-level programming interfaces and libraries that simplify the programming process while still enabling precise control, eliminating the need for users to work directly at the lowest programming level
3Reliability
If separate control units and motor controllers are used with bus systems, then the system provides modular control, but the system lacks redundancy and is not suitable for human-robot cooperation
Solution Approach 1:
The patent combines control and motor control functions in a single integrated unit, eliminating the need for complex bus systems and multiple communication interfaces. This reduction in system complexity removes potential failure points while maintaining full control functionality, thereby improving reliability for safety-critical applications like human-robot cooperation
Solution Approach 2:
The control unit incorporates direct feedback mechanisms from sensors to the microcontroller, enabling real-time monitoring and control without requiring intermediate communication buses. This direct feedback path ensures functional safety by providing immediate response to system states and eliminating communication delays or failures that could compromise safety
Data Source
AI summary
Drive unit of an automation component, in particular a gripping, clamping, changing, linear or pivoting unit, whereby the drive unit includes a drive for driving the movable parts of the automation component and a control unit which controls the drive, whereby the control unit includes at least one computing device, and the drive unit together with the drive, control unit and computing device is arranged in or on a base housing of the automation component.