Mechanical Arm Joint Control Circuit for Simplified Safety Monitoring
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Solution Overview
Problem
Existing servo systems in industrial robots, particularly collaborative robots, are complex and costly, failing to meet safety standards and requiring a simplified design to reduce production costs while ensuring functional safety.
Innovation Solution
A control circuit for a mechanical arm that decomposes the servo system into a first detection circuit, second detection circuit, driving control circuit, and safety monitoring circuit, utilizing encoders for motion information and MCUs for control, enabling safe operation and compliance with safety standards.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a traditional servo system is used for speed and position reading, then the collaborative robot can achieve basic motion control, but the system complexity increases and production costs rise
Solution Approach 1:
The patent segments the servo system into independent functional modules: a first detection circuit for high-speed end motion information, a second detection circuit for low-speed end motion information, a driving control circuit, and a safety monitoring circuit. This segmentation reduces overall system complexity while maintaining safety functions by allowing each module to be optimized independently and simplifying troubleshooting and maintenance.
2Reliability
If a traditional servo system is used, then motion control is achieved, but production costs become difficult to lower
Solution Approach 1:
The patent replaces expensive traditional servo systems with cost-effective alternative components: simple detection circuits using basic electronic components, a driving control circuit based on microcontroller units, and a dedicated safety monitoring circuit. These simpler components significantly reduce production costs while maintaining the required safety control functions for collaborative robots.
3Ease of operation
If existing servo systems are used, then basic control functions are provided, but they fail to meet safety architecture requirements
Solution Approach 1:
The patent introduces a dedicated safety monitoring circuit as an intermediary component that independently monitors motion information from both the high-speed end and low-speed end detection circuits. This safety monitoring circuit acts as a mediator between the driving control circuit and the final actuation, ensuring that safety architecture requirements are met by verifying motion parameters and triggering safety responses when anomalies are detected, without interfering with normal control operations.
Data Source
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AI summary
The present application relates to the field of safety control of industrial robots, and a control circuit of a mechanical arm, a mechanical arm, and a robot are provided by some embodiments of the present application. The mechanical arm includes a control circuit and a driving mechanism connected to the control circuit. The control circuit and the driving mechanism are arranged on a joint of the mechanical arm. The control circuit includes: a first detection circuit, connected to the driving mechanism and configured to obtain first motion information of a high-speed end of the driving mechanism; a second detection circuit, connected to the driving mechanism and configured to obtain second motion information of a low-speed end of the driving mechanism, a driving control circuit, connected to the first detection circuit and the second detection circuit and configured to control the driving mechanism to operate based on the first motion information and the second motion information; and a safety monitoring circuit, connected to the driving control circuit and the second detection circuit, respectively, and configured to perform safety monitoring on a motion of the low-speed end based on the second motion information, such that abnormal information is fed back to the driving control circuit in response to the motion of the low-speed end is abnormally. The driving control circuit is configured to control the driving mechanism to decelerate or stop operating based on the abnormal information, so as to achieve safe control of the joint of the mechanical arm.