Robot Joint Safety Assembly With Local Fault Stop Control
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Solution Overview
Problem
Conventional robots rely on a centralized main safety controller to monitor and check all safety functions, which can lead to delays in detecting joint failures due to the need for sensor data collection and computation.
Innovation Solution
A safety system integrated within a joint assembly, comprising a motor, brake, sensors, and dual processors, allows for local detection and response to joint faults by sending a stop command directly to the driving circuit upon detecting a fault.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a centralized main safety controller is used to monitor all safety functions, then the control structure is simplified and easier to manage, but the detection speed of joint failures is reduced due to data collection and computation delays
Solution Approach 1:
The patent divides the centralized safety control function into distributed safety controllers located at each joint assembly. Each safety controller independently monitors safety parameters for its respective joint, eliminating the need to transmit data to a central controller and enabling immediate local detection and response to faults.
Solution Approach 2:
The patent transitions from a single-dimensional centralized control architecture to a multi-dimensional distributed architecture where safety monitoring occurs simultaneously at multiple joint locations. This spatial distribution enables parallel processing of safety data, reducing overall detection time.
2Ease of operation
If sensor data is collected and processed by a main safety controller, then centralized monitoring is achieved, but the response time to joint faults is delayed
Solution Approach 1:
The patent segments the safety control system into independent units at each joint, with each unit having its own processor that can immediately process sensor data and trigger safety responses without waiting for centralized controller processing.
Solution Approach 2:
Each joint assembly's safety controller is self-sufficient, independently collecting sensor data, processing it locally, and executing safety commands without requiring service or intervention from a central controller, thereby achieving immediate fault response.
3Device complexity
If all safety computation is performed by a main safety controller, then system architecture is simplified, but detection precision and reliability are reduced
Solution Approach 1:
The patent distributes the computational burden of safety monitoring to individual joint controllers, each equipped with a processor that performs local analysis of safety parameters. This segmentation enables more precise local detection while maintaining overall system manageability through standardized communication protocols.
Data Source
AI summary
A safety system of a joint assembly which includes a motor and a brake coupled to the motor is provided. The safety system includes at least one set of sensors configured to detect at least one parameter associated with safety function of the joint assembly, a driving circuit coupled to the motor and the brake and arranged within the joint assembly; and a first processor and a second processor arranged within the joint assembly. The first processor and the second processor configured to receive a signal indicative of the at least one parameter from the at least one set of sensors and send a stop command directly to the driving circuit to stop the motor in response to a joint fault determined based on the signal received from the at least one set of sensors.