# US 12,715,113 B2 · Control system and drive circuit board for aiding mechanical arm to escape > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,715,113 B2 - Document ID: US12715113B2 - Status: Granted - Kind: B2 - Application number: 18/418,387 - Filed: 2024-01-22 - Published: 2025-04-24 - Granted: 2026-08-25 - Earliest claimed: 2023-10-19 - Assignees: Techman Robot Inc. - Applicants: Techman Robot Inc. - Inventors: Yu-Chin Jiang; Ting-Ya Hsiao; Chun-Wen Lai - Web page: https://patentgrep.com/patent/US12715113B2 ## CPC - B25J 9/161: {Hardware, e.g. neural networks, fuzzy logic, interfaces, processor} - B25J 9/1674: {characterised by safety, monitoring, diagnostic} - G05B 15/02: electric - 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}) - 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) ## Abstract A control system of a mechanical arm is provided. The control system includes a first transform circuit, a second transform circuit and a third transform circuit. The first transform circuit outputs a first digital power signal in a first mode of the mechanical arm. The second transform circuit outputs a second digital power signal in the first mode of the mechanical arm. When the control system is unable to control the mechanical arm to move in the first mode, the second digital power signal is cut off. When the control system is unable to control the mechanical arm to move in the first mode, the third transform circuit outputs a third digital power signal. ## Claims ### Claim 1 A control system of a mechanical arm, comprising: a first transform circuit outputting a first digital power signal in a first mode of the mechanical arm; a second transform circuit outputting a second digital power signal in the first mode of the mechanical arm, wherein when the control system is unable to control the mechanical arm to keep in the first mode, the second digital power signal is cut off; and a third transform circuit outputting a third digital power signal when the control system is unable to control the mechanical arm to keep in the first mode; a signal output circuit coupled to a control circuit for outputting a switch signal according to a control signal; a switch circuit coupled to the signal output circuit for receiving the switch signal to conduct or cut off a power path; a decoder receiving a sensing signal, decoding the sensing signal, and outputting a decoded signal; a calculator coupled to the decoder for receiving the decoded signal and generating a speed signal according to the decoded signal; and a computing circuit coupled to the calculator for receiving the speed signal and comparing the speed signal with a speed threshold signal to generate a speed computing signal; wherein, the switch circuit conducts or cuts off the power path according to the speed computing signal. ### Claim 2 (depends on 1) The control system of the mechanical arm according to claim 1, wherein the control system controls the mechanical arm to operate in the first mode according to the first digital power signal and the second digital power signal; the control system cuts off the second digital power signal so that the mechanical arm is controlled to operate in a second mode; the control system controls the mechanical arm to operate in a third mode according to the first digital power signal and the third digital power signal so that a braking force of a joint module is released. ### Claim 3 (depends on 2) The control system of the mechanical arm according to claim 2, wherein the first mode is a normal mode, the second mode is a safe mode, and the third mode is an escape mode. ### Claim 4 (depends on 1) The control system of the mechanical arm according to claim 1, wherein the control system controls the mechanical arm to operate in the first mode according to the first digital power signal and the second digital power signal; the control system cuts off the second digital power signal so that the mechanical arm is controlled to operate in a second mode; the control system controls the mechanical arm to operate in a third mode according to the third digital power signal so that a braking force of a joint module is released. ### Claim 5 A control system of a mechanical arm, comprising: a first transform circuit outputting a first digital power signal in a first mode of the mechanical arm; a second transform circuit outputting a second digital power signal in the first mode of the mechanical arm, wherein when the control system is unable to control the mechanical arm to keep in the first mode, the second digital power signal is cut off; a third transform circuit outputting a third digital power signal when the control system is unable to control the mechanical arm to keep in the first mode; a decoder receiving a sensing signal, decoding the sensing signal, and outputting a decoded signal; a calculator coupled to the decoder for receiving the decoded signal and generating a speed signal according to the decoded signal; a computing circuit coupled to the third transform circuit for receiving the third digital power signal and comparing the third digital power signal with a power threshold signal to generate a power computing signal and coupled to the calculator for receiving the speed signal and comparing the speed signal with a speed threshold signal to generate a speed computing signal; and a control circuit coupled to the computing circuit for controlling the mechanical arm to change from the first mode to a second mode according to the speed computing signal and cutting off the second digital power signal, and for controlling the mechanical arm to change from the second mode to a third mode according to the power computing signal. ### Claim 6 (depends on 5) The control system of the mechanical arm according to claim 5, wherein each of joint modules of the mechanical arm comprises the control system disposed on a drive circuit board.