SCARA Robot Emergency Stop Brake Release Control
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Solution Overview
Problem
SCARA robots cannot move their robotic arms without power off and restart after triggering an emergency stop, leading to potential secondary damage and safety hazards.
Innovation Solution
A robot control device comprising a signal acquisition unit, a control unit, a logic processing unit, and a signal output unit, which allows manual release of motor braking through a hardware control loop compatible with software control, enabling emergency movement of the SCARA robot.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the robot triggers an emergency stop, then the motor braking is activated to stop the robot, but the robotic arm cannot be moved without power off and restart
Solution Approach 1:
The patent introduces a body switch as an intermediary device that mediates between the emergency stop state and the motor braking system. When the body switch is turned on, it sends a signal through the control unit and logic processing unit to release the motor brake, allowing the robotic arm to be moved manually without requiring power cycle while maintaining the emergency stop safety state.
Solution Approach 2:
The patent segments the emergency stop response into two independent control paths: one that maintains the emergency stop state (through the control unit) and another that allows manual brake release (through the body switch and logic processing unit). This segmentation enables selective activation of brake release while preserving the emergency stop condition.
2Ease of operation
If manual release of motor braking is enabled after emergency stop, then the robotic arm can be moved for emergency response, but the system complexity increases
Solution Approach 1:
The body switch serves multiple functions: it can be used during normal operation for manual control and during emergency stop for brake release. The logic processing unit also handles multiple signal types (switch turn-on signals and enable release control signals) and generates appropriate output signals for different operational states, reducing the need for separate dedicated components.
3Object-affected harmful factors
If the braking is released manually through body switch, then secondary damage can be prevented, but the control precision may be affected
Solution Approach 1:
The logic processing unit receives feedback signals from both the body switch and the control unit, processes these signals according to predefined logic, and generates appropriate brake release commands. This feedback mechanism ensures that the brake is released only when the correct conditions are met, maintaining control precision while enabling emergency manual release.
Data Source
AI summary
The present disclosure provides a robot control apparatus. The apparatus includes: a signal acquisition unit configured to obtain, in the case that a robot triggers emergency stop and if the body switch of the robot is turned on, a switch turn-on signal that the body switch of the robot is turned on; a control unit configured to output an enable release control signal; a logic processing unit configured to perform logic processing on the switch turn-on signal if the switch turn-on signal is received, then output a manual release signal, perform logic processing on the enable release control signal if the enable release control signal is received, and then output an enable release signal; and a signal output unit configured to control, if the manual release signal or the enable release signal is received, the motor of the robot to release a band brake.