Emergency stop control device and robot
A control device and controller technology, applied in the direction of manipulators, manufacturing tools, etc., can solve problems such as motor can not stop quickly, personal or property damage, motor emergency stop failure, etc.
Active Publication Date: 2022-02-08
BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD
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Problems solved by technology
However, for non-brake motors, after the emergency stop is triggered, it is easy to cause the problem that the motor cannot stop quickly or the motor fails to stop in an emergency, which may cause the robot to collide with the human body or other objects and cause danger, causing damage to people or property
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[0019] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention. In addition, it should be noted that, for the convenience of description, only some structures related to the present invention are shown in the drawings but not all structures.
[0020] It can be seen from the above background that for non-brake motors, after the emergency stop is triggered, the motor cannot be stopped quickly or the motor fails to stop quickly. In the process of realizing the embodiment of the present invention, for non-brake motors, the inventor summarized the realization process of the emergency stop device into two situations: Case 1, after the emergency stop action is triggered, the emergency stop circuit immediately cuts off the power supply of the motor; Case 2: Aft...
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The invention discloses an emergency stop control device and a robot, and the emergency stop control device comprises a controller, an emergency stop detection module, an emergency stop driving module and a reverse braking module; the emergency stop detection module is electrically connected with the controller, and the emergency stop detection module is used for detecting the on-off state of the emergency stop switch and sending the on-off state of the emergency stop switch to the controller; the controller is electrically connected with the emergency stop driving module and is used for sending an emergency stop control signal to the emergency stop driving module when the on-off state of the emergency stop switch is an on state; the emergency stop driving module is electrically connected with the reverse braking module and is used for controlling the motor to be connected with the reverse braking module according to the emergency stop control signal; and the reverse braking module is used for generating braking torque opposite to the rotating direction of the motor for the motor when the motor rotates. According to the technical scheme provided by the invention, the non-band-type brake motor can be safely and quickly stopped, and the braking distance of equipment is effectively reduced.
Description
technical field [0001] The invention relates to the technical field of intelligent control, in particular to an emergency stop control device and a robot. Background technique [0002] With the development of artificial intelligence, service robots gradually appear in crowded places such as shopping malls, station waiting halls, and hospital halls, providing services such as guidance, Q&A, and business introduction. According to the safety standard, the robot is equipped with an emergency stop device. When an emergency occurs, the user can trigger the emergency stop device to make the robot stop quickly to achieve the purpose of protection. [0003] Robot power motors can be divided into holding brakes and non-holding brakes. Among them, the brake motor can quickly brake under the limitation of its own mechanical structure when the power is cut off, while the non-brake motor will continue to slide due to inertia after the power is cut off. [0004] In the process of realiz...
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Login to View More IPC IPC(8): B25J19/00B25J19/06
CPCB25J19/0004B25J19/06
Inventor 许哲涛
Owner BEIJING JINGDONG QIANSHITECHNOLOGY CO LTD