# US 12,650,684 B2 · Safety system of mechanic equipment

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- Number: US 12,650,684 B2
- Document ID: US12650684B2
- Status: Granted
- Kind: B2
- Application number: 18/525,920
- Filed: 2023-12-01
- Published: 2025-06-05
- Granted: 2026-06-09
- Earliest claimed: 2023-12-01
- Assignees: Techman Robot Inc.
- Applicants: Techman Robot Inc.
- Inventors: Chun-Wen Lai; Chih-Jan Kao; Ching-Wei Lee
- Web page: https://patentgrep.com/patent/US12650684B2

## CPC

- G05B 23/0224: {Process history based detection method, e.g. whereby history implies the availability of large amounts of data}
- B25J 19/06: Safety devices
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})

## Abstract

A mechanical equipment comprises a control system and a safety system. The safety system is coupled to the control system, and the safety system monitors the operation of the mechanical equipment, and generates a first monitoring signal and a second monitoring signal according to a synchronization signal. The first monitoring signal and the second monitoring signal are obtained by monitoring the mechanical equipment at the same monitoring time.

## Claims

### Claim 1

A Mechanic equipment, comprising:
a control system; and
a safety system, coupled to said control system, monitoring an operation of said mechanic equipment, generating a first monitoring signal and a second monitoring signal according to a synchronization signal, and said first monitoring signal and said second monitoring signal acquired by monitoring said mechanic equipment at the same monitoring time;
wherein said mechanic equipment is a robotic arm, and an arm controller of said robotic arm comprises said control system and said safety system;
said control system is an arm control system, said safety system is an arm safety system;
said arm control system registers a first system monitoring signal or a second system monitoring signal; said arm control system is coupled to said arm safety system, said arm safety system receives said first system monitoring signal or said second system monitoring signal according to a first arm interrupt signal or a second arm interrupt signal for controlling the operation of said robotic arm;
said synchronization signal is an arm synchronization signal; and said arm safety system monitors the operation of said robotic arm according to said arm synchronization signal for generating a first arm monitoring signal and a second arm monitoring signal; and
said first arm interrupt signal or said second arm interrupt signal triggers said arm synchronization signal for controlling said arm safety system to monitor the operation of said robotic arm.

### Claim 2

A mechanic equipment, comprising:
a control system; and
a safety system, coupled to said control system, monitoring an operation of said mechanic equipment, generating a first monitoring signal and a second monitoring signal according to a synchronization signal, and said first monitoring signal and said second monitoring signal acquired by monitoring said mechanic equipment at the same monitoring time;
wherein said mechanic equipment is a robotic arm, and each joint module of said robotic arm comprises said control system and said safety system;
said control system is a joint control system, said safety system is a joint safety system; said joint control system registers a first system monitoring signal or a second system monitoring signal;
said joint control system is coupled to said joint safety system, said joint safety system receives said first system monitoring signal or said second system monitoring signal according to a first joint interrupt signal or a second joint interrupt signal for controlling the operation of said joint module;
said synchronization signal is a joint synchronization signal, and said joint safety system monitors the operation of said joint module according to said joint synchronization signal for generating a first joint monitoring signal and a second joint monitoring signal and acquiring the operation status of said joint module; and
said first joint interrupt signal or said second joint interrupt signal triggers said joint synchronization signal for controlling said joint safety system to monitor the operation of said joint module.

### Claim 3

A mechanic equipment, comprising:
a control system, comprising a first register circuit and a second register circuit, registering a first input data and a second input data, respectively;
a communication control module, controlling said control system to output said first input data or said second input data;
a safety system, coupled to said control system, monitoring an operation of said mechanic equipment, generating a first monitoring signal and a second monitoring signal according to a synchronization signal, and said first monitoring signal and said second monitoring signal acquired by monitoring said mechanic equipment at the same monitoring time, said safety system, comprising a first monitoring module and a second monitoring module;
wherein said first monitoring module coupled to said first register circuit and said second monitoring module coupled to said second register circuit via a communication port for receiving said first input data and said second input data sequentially; said first monitoring module and said second monitoring module comprise a synchronization circuit, respectively;
said synchronization signal controls said synchronization circuit to trigger said first monitoring module and said second monitoring module to monitor the status of said mechanic equipment at the same monitoring time and generate said first monitoring signal and said second monitoring signal; and
said safety system outputs said first output data and said second output data according to said first monitoring signal and said second output signal.