Drive device with emergency handling

Abstract

The drive device with emergency treatment of the present application has a motor module, an emergency switch and a processing device. The motor module includes a power input, a control device, a drive device and a motor. The processing device connects the motor module and the emergency switch, and has a power delay time and a control delay time. When the emergency switch is triggered, the processing device is triggered to execute an emergency stop process. The emergency stop process includes counting the power delay time and the control delay time, and during the counting of the control delay time, a deceleration signal is output to the control device to make the drive device drive the motor to run at a reduced speed. Then, when the counting of the control delay time ends, a shutdown signal is output to shut down the drive device. When the counting of the power delay time ends, a power supply to the power input is stopped.

Description

Technical Field

[0001] This invention relates to emergency response systems for electromechanical equipment, and in particular to a drive device with emergency response capabilities. Background Technology

[0002] Motors are widely used in various production, conveying, or processing environments as the driving source for equipment. However, emergency situations inevitably arise in the working environment, requiring emergency stops. For example, Chinese invention CN 116100577B discloses a torque shutdown module, method, safety control module, and robot. Paragraph 0037 of its specification discloses that a delay module and a time monitoring module simultaneously receive shutdown signals, and the delay module performs delay processing on the shutdown signal. The delay time can be the time required for the motor to decelerate to the expected speed, which can reduce the damage to the motor caused by emergency stops. On the other hand, when the delay module is working normally, it outputs a shutdown signal to the output module after the first timing duration. When the delay module malfunctions and fails to output a shutdown signal, the time monitoring module outputs a shutdown signal after a second timing duration that is longer than the first timing duration. The time monitoring module can output a shutdown signal to the output module when the delay module malfunctions. At the same time, the output module outputs the shutdown signal from the delay module or the shutdown signal from the time monitoring module to the motor, thereby controlling the motor to perform torque shutdown and improving the reliability of torque shutdown control.

[0003] In short, the delay module and time monitoring module do not notify the motor controller or firmware during the motor shutdown process, nor do they shut off the power. Although the delay time allows the motor to decelerate and shut down, the controller or firmware may still continue to issue action commands without correctly remembering the current state of the emergency stop. Furthermore, using whether the motor speed has dropped to the expected speed as the primary criterion is still insufficient; a collision may still occur due to the high speed and proximity to obstacles, thus failing to achieve the desired emergency stop. Summary of the Invention

[0004] In view of the above deficiencies, the drive device with emergency response of the present invention can notify the control device to decelerate the motor module before powering off when emergency response is required, thereby reducing the braking burden on the motor module and improving the reliability and service life of the drive device.

[0005] To achieve the above objectives, the emergency response drive device of the present invention includes a motor module, an emergency switch, and a processing device. The motor module includes a power input terminal, a control device, a drive device, and a motor. The control device is connected to the drive device to control the drive device. The drive device is connected to the power input terminal and the motor, and is used to drive the motor. The processing device is connected to the motor module and the emergency switch, and has a power delay time and a control delay time. The control delay time is shorter than the power delay time. When the emergency switch is triggered, the processing device is triggered to execute an emergency stop procedure. The emergency stop procedure includes counting the power delay time and the control delay time. During the control delay time counting, a deceleration signal is output to the control device, which controls the drive device to decelerate the motor. Subsequently, when the control delay time counting ends, a shutdown signal is output to the drive device to shut down the drive device. When the power delay time counting ends, power supply to the power input terminal is stopped.

[0006] Thus, the drive device with emergency handling of the present invention can, when an emergency stop is required, sequentially notify the control device to decelerate the motor and stop the drive device by counting the power delay time and the control delay time, and finally turn off the power, thereby reducing the braking burden on the motor module during emergency stops, and thus extending the service life and reliability of the drive device.

[0007] Detailed construction, features, operation, or judgment methods of the drive device with emergency response provided by this invention will be described in the subsequent detailed description of embodiments. However, those skilled in the art will understand that such detailed descriptions and the specific embodiments listed for implementing this invention are merely illustrative and not intended to limit the scope of this patent application. Attached Figure Description

[0008] Figure 1 This is a block diagram illustrating the components of the drive device of the present invention.

[0009] Figure 2 yes Figure 1 A circuit diagram of an embodiment of the processing apparatus for the drive device.

[0010] Figure 3 yes Figure 1 A circuit diagram of another embodiment of the processing apparatus for the drive device.

[0011] Explanation of reference numerals in the attached figures:

[0012] 100: Drive device 10: Motor module 11: Power input terminal 13: Control device 15: Drive device 17: Motor 20: Emergency switch 30: Processing device 31: Input circuit 33: Microcontroller 35: Power switch circuit 351: Comparator 353: P-channel transistor 50: Processing device 51: Power delay module 511: Power capacitor circuit 513: Power switch circuit 53: Control delay module 531: Front-end capacitor circuit 533: Back-end capacitor circuit Q1: First P-channel transistor Q2: First N-channel transistor Q3: Third P-channel transistor Q4: Fourth P-channel transistor Q5: Fifth N-channel transistor Q6: Sixth P-channel transistor Q7: Seventh N-channel transistor C1: First capacitor C2: Second capacitor C3: Third capacitor R: Resistor V S Power supply V C : Control power supply Detailed Implementation

[0013] like Figure 1 As shown, the drive device 100 of the present invention includes a motor module 10, an emergency switch 20, and a processing device 30. The drive device 100 can be applied in production, processing, conveying, robotics, robotic arms, and other application environments. Therefore, the drive device 100 can also be referred to as production equipment, processing equipment, warehousing and conveying equipment, etc.

[0014] The motor module 10 includes a power input terminal 11, a control device 13, a drive device 15, and a motor 17. The control device 13 is connected to the drive device 15 to control the drive device 15. The drive device 15 is connected to the power input terminal 11 and the motor 17, and is used to drive the motor 17.

[0015] The processing device 30 is connected to the emergency switch 20 and has a power delay time and a control delay time. The control delay time is shorter than the power delay time. When the emergency switch 20 is triggered, the processing device 30 is triggered to execute an emergency stop procedure. The emergency stop procedure includes counting the power delay time and the control delay time. During the control delay time counting, a deceleration signal is output to the control device 13. The control device 13 controls the drive device 15 according to the deceleration signal to slow down the motor 17. Subsequently, when the control delay time count ends, a shutdown signal is output to the drive device 15 to shut down the drive device 15. When the power delay time count ends, power supply to the power input terminal 11 is stopped. In this embodiment, the power delay time and the control delay time start timing synchronously. In this embodiment, the motor 17 operates at a fixed speed, and the length of the control delay time is roughly defined by the reduction of the motor 17's fixed speed to a stop state. Thus, the drive device 15 can stop the motor 17 according to the deceleration signal. However, in other embodiments, the motor 17 can also reduce its speed to a very low rotational state according to the deceleration signal, without being limited to a stop or a fixed speed.

[0016] The drive device 100 of the present invention can perform the above-described operation after the emergency switch 20 is triggered, so that the processing device performs an emergency stop process, controlling the motor module 10 to stop operation in stages (decelerating the motor 17, then shutting off the drive device 15, and finally shutting off the power supply), in order to avoid system abnormalities or errors caused by the failure of a single emergency stop mechanism. Among them, decelerating the motor 17 first in the emergency stop process can reduce the burden on the brake module of the motor 17, thereby extending its service life and improving the stability of the equipment.

[0017] like Figure 2 As shown, the processing device 30 includes an input circuit 31, a microcontroller 33, and a power switch circuit 35. The input circuit 31 is connected to the emergency switch 20 and the microcontroller 33. The microcontroller 33 is connected to the power switch circuit 35, the control device 13, and the drive device 15, and is used to count and control the delay time to generate corresponding deceleration signals and shutdown signals. The power switch circuit 35 is connected to the power input terminal 11.

[0018] Emergency switch 20 triggers input circuit 31 to cause microcontroller 33 to execute an emergency stop procedure, counting and operating according to power delay time and control delay time. Power switch circuit 35 includes a comparator 351 and a P-channel transistor 353. The non-inverting input of comparator 351 is connected to microcontroller 33, and the inverting input of comparator 351 has a reference voltage, which is the voltage division of a series resistor. In other embodiments, the series resistor can be a variable resistor. The gate of P-channel transistor 353 is connected to the output of comparator 351, the source of P-channel transistor 353 is connected to the power supply, and the drain of P-channel transistor 353 is connected to power input terminal 11. When the power delay time count ends, comparator 351 is triggered to switch states, causing P-channel transistor 353 to turn off (shut down), thus interrupting power supply to power input terminal 11.

[0019] The P-channel transistor 353 is considered an electronic switching element. In other embodiments, the P-channel transistor 353 may be selected as a relay, a solid-state relay (SSR), or other switching elements.

[0020] Furthermore, after the emergency procedure ends, when the emergency switch 20 is triggered again, the microcontroller 33 of the processing device 30 is triggered to execute a reset procedure. The processing device 30 triggers the comparator 351 to switch states, causing the P-channel transistor 35 to conduct and supply power to the power input terminal 11. The microcontroller 33 counts the control delay time. During the counting process, the control device 13 is triggered. Subsequently, when the control delay time count ends, the drive device 15 is triggered. In this way, the drive device of the present invention can be reset to perform operation.

[0021] For the counting process of the control delay time by the microcontroller 33, the control delay time in this embodiment has a control time and a drive time. After the control time counting is completed, the processing device 30 outputs a deceleration signal to trigger the control device 13 to control the drive device 15, and the drive time starts counting. In this way, the control device 13 and its firmware can know that the motor 17 needs to decelerate to a stop. After the drive time counting is completed, the processing device 30 outputs a shutdown signal to shut down the drive device 15. In short, during the drive time counting process, the drive device 15 decelerates the motor 17 to a stop and is subsequently shut down.

[0022] like Figure 3 As shown, compared to Figure 2 Example, Figure 3 The microcontroller and input circuitry are omitted, and a hardware circuit composed of active and passive components is used instead. Therefore, the processing device is designated as 50. The processing device 50 includes a power delay module 51 and a control delay module 53. The power delay module 51 is connected to the emergency switch 20, the control delay module 53, and the power input terminal 11 to control the power supply path of the power input terminal 11. The power delay module 51 defines the power delay time. The control delay module 53 is used to trigger the control device 13 to control the drive device 15 during the control delay time counting process, and to shut down the control device 13 and the drive device 15 after the control delay time counting ends.

[0023] The power delay module 51 includes a power capacitor circuit 511 and a power switch circuit 513. The power capacitor circuit 511 is connected to the emergency switch 20 and the control delay module 53. The power switch circuit 513 is connected to the power capacitor circuit 511 and the power input terminal 11. The composition and operation of the power switch circuit 513 are similar to... Figure 2 The power switch circuit is the same as that of the power supply capacitor circuit 511, so it will not be described again. The power delay time is related to the charging time of the power supply capacitor circuit 511. When the power delay time count ends, the power supply capacitor circuit 511 triggers the power switch circuit 513 to turn off the power supply V. S It is supplied to the power input terminal 11.

[0024] In this embodiment, the power supply capacitor circuit 511 includes a first P-channel transistor Q1, a first N-channel transistor Q2, and a first capacitor C1. The gate of the first P-channel transistor Q1 is connected to the emergency switch 20, the gate of the first N-channel transistor Q2, and the control delay module 53 through a series resistor. The source of the first P-channel transistor Q1 is connected to the power supply V through a series resistor. SThe drain of the first P-channel transistor Q1 is connected to the drain of the second N-channel transistor Q2, the first capacitor C1, and the non-inverting input of the comparator in the power switch circuit 513. The source of the second N-channel transistor Q2 is connected to the first capacitor C1 and the ground terminal through a series resistor.

[0025] The control delay module 53 includes a front-end capacitor circuit 531 and a rear-end capacitor circuit 533. The front-end capacitor circuit 531 is connected to the emergency switch 20, the power delay module 51, and the control device 13. The rear-end capacitor circuit 533 is connected to the front-end capacitor circuit 531 and the drive device 15. The control time is related to the discharge time of the front-end capacitor circuit 531. After the front-end capacitor circuit 531 has finished discharging, the rear-end capacitor circuit 533 is triggered to charge. The drive time is related to the charging time of the rear-end capacitor circuit 533.

[0026] The front-end capacitor circuit 531 includes a third P-channel transistor Q3, a fourth P-channel transistor Q4, a fifth N-channel transistor Q5, and a second capacitor C2. The second capacitor C2 is connected to the emergency switch 20, the source of the third P-channel transistor Q3, the gate of the fourth P-channel transistor Q4, and the gate of the fifth N-channel transistor Q5 via a series resistor. The gate of the third P-channel transistor Q3 is connected to the gate of the second N-channel transistor Q2, and the drain of the third P-channel transistor Q3 is connected to ground via a resistor. The source of the fourth P-channel transistor Q4 is connected to a control power supply V. C The drain of the fourth P-channel transistor Q4 is connected to the drain of the fifth N-channel transistor Q5 and the control device 13. The source of the fifth N-channel transistor Q5 is connected to the ground terminal through a resistor.

[0027] The back-end capacitor circuit 533 includes a sixth P-channel transistor Q6, a seventh N-channel transistor Q7, and a third capacitor C3. The source of the sixth P-channel transistor Q6 is connected to the control power supply V. C The gate of the sixth P-channel transistor Q6 is connected to the gate of the fifth N-channel transistor Q5 and the gate of the seventh N-channel transistor Q7. The source of the seventh N-channel transistor Q7 is connected to the ground terminal through a resistor R. The drain of the seventh N-channel transistor Q7 and the drain of the sixth P-channel transistor Q6 are connected to the third capacitor C3 and the driving device 15 through a resistor.

[0028] Before the emergency switch 20 is triggered, the second capacitor C2 is fully charged. When the emergency switch 20 is triggered, the first P-channel transistor Q1 turns on to charge the first capacitor C1, and the second N-channel transistor Q2 turns off to establish a power delay time. At the same time, the second capacitor C2 discharges through the turned-on third P-channel transistor Q3 to establish a control time. The fourth P-channel transistor Q4 turns off, and the fifth N-channel transistor Q5 turns on. The sixth P-channel transistor Q6 turns off, and the seventh N-channel transistor Q7 turns on. Therefore, the third capacitor C3 is not charged.

[0029] Subsequently, the second capacitor C2 discharges completely, the control time count ends, the fourth P-channel transistor Q4 turns on, and the fifth N-channel transistor Q5 turns off, outputting a deceleration signal to the control device 13, informing the control device 13 and its firmware of the deceleration stop requirement. In this embodiment, the control device 13 receives a deceleration signal that transitions from a low-order to a high-order state, causing the drive device 15 to drive the motor 17 to decelerate and stop. Simultaneously, the sixth P-channel transistor Q6 turns on, and the seventh N-channel transistor Q7 turns off, so that the third capacitor C3 is charged through the turned-on sixth P-channel transistor Q6 to establish the drive time.

[0030] Finally, when the third capacitor C3 is fully charged, the drive time count ends, and the drive unit 15 receives a shutdown signal that transitions from a low-order to a high-order state. The drive unit 15 is then turned off, and the motor 17 stops at low speed or near rest to reduce braking load. During this stage, the first capacitor C1 is also fully charged (representing high voltage), causing the comparator in the power switch circuit 513 to switch state, triggering the transistor (electronic switching element - cutoff), thus disconnecting the power supply path. Therefore, the power supply V... S It will be impossible to transmit to the power input terminal 11.

[0031] The above is Figure 3 Regarding the operation of the emergency stop procedure, to reset the drive device 100, the emergency switch 20 can be pressed again to trigger the processing device 30, causing the processing device 30 to execute the reset procedure. The reset procedure includes discharging the power supply capacitor circuit 511 and charging the front-end capacitor circuit 531. At this time, the emergency switch 20 changes from low voltage to high voltage, the second capacitor C2 is charged, the first P-channel transistor Q1 is turned off, and the first capacitor C1 discharges through the conducting second N-channel transistor Q2.

[0032] Subsequently, when the power capacitor circuit 511 finishes discharging, it triggers the power switch circuit 513 to supply power V. SThe first capacitor C1 discharges completely (representing a low voltage), causing the non-inverting input of the comparator in the power switch circuit 513 to switch from a high-order to a low-order state, thereby triggering the transistor (electronic switching element) of the power switch circuit 513 to conduct, thus switching the power supply V to the power input terminal 11. S Power is supplied to power input terminal 11.

[0033] When the front-end capacitor circuit 531 is fully charged, the control device 13 is activated, and the rear-end capacitor circuit 533 begins to discharge. Simultaneously, when the second capacitor C2 is fully charged, the fifth N-channel transistor Q5 is turned on to activate the control device 13, and the third capacitor C3 discharges through the activated seventh N-channel transistor Q7.

[0034] Finally, after the back-end capacitor circuit 533 has finished discharging (i.e., the third capacitor C3 has finished discharging), the drive device 15 is woken up, thus resetting the drive device 100. The time difference between the wake-up of the control device 13 and the drive device 15 is related to the discharge time of the third capacitor C3. Therefore, to speed up the wake-up time of the drive device 15, the resistance value of the discharge path of the third capacitor C3 can be reduced, that is, the resistor R connected to the source of the seventh N-channel transistor Q7, or other resistors in the path.

Claims

1. A drive device with emergency response capabilities, comprising: A motor module includes a power input terminal, a control device, a drive device, and a motor. The control device is connected to the drive device to control the drive device, and the drive device is connected to the power input terminal and the motor to drive the motor. One emergency switch; and A processing device is connected to the motor module and the emergency switch, and has a power delay time and a control delay time, the control delay time being shorter than the power delay time. When the emergency switch is triggered, the processing device is triggered to execute an emergency stop procedure, the emergency stop procedure including counting the power delay time and the control delay time. During the counting of the control delay time, a deceleration signal is output to the control device, the control device controls the drive device to decelerate the motor. Subsequently, when the counting of the control delay time ends, a shutdown signal is output to the drive device to shut down the drive device. When the counting of the power delay time ends, a power supply to the power input terminal is stopped.

2. The drive device with emergency response capability as described in claim 1, wherein, The control delay time has a control time and a drive time. After the control time count ends, the processing device outputs the deceleration signal and starts counting the drive time. After the drive time count ends, the processing device outputs the shutdown signal.

3. The drive device with emergency response capability as described in claim 2, wherein, The processing device includes a power delay module and a control delay module. The power delay module is connected to the emergency switch, the control delay module and the power input terminal to control the power supply path of the power input terminal. The power delay module defines the power delay time and is used to control the power supply to the power input terminal. The control delay module is connected to the control device and the drive device. The control delay module defines the control delay time and is used to generate the deceleration signal during the control delay time counting process and generate the shutdown signal after the control delay time counting ends.

4. The drive device with emergency response capability as described in claim 3, wherein, The control delay module includes a front-end capacitor circuit and a rear-end capacitor circuit. The front-end capacitor circuit is connected to the emergency switch, the power delay module, and the control device. The rear-end capacitor circuit is connected to the front-end capacitor circuit and the drive device. The control time is related to the discharge time of the front-end capacitor circuit. After the front-end capacitor circuit has finished discharging, the rear-end capacitor circuit is triggered to charge. The drive time is related to the charging time of the rear-end capacitor circuit.

5. The drive device with emergency response capability as described in claim 4, wherein, The power delay module has a power capacitor circuit and a power switch circuit. The power capacitor circuit is connected to the emergency switch and the control delay module. The power switch circuit is connected to the power capacitor circuit and the power input terminal. The power delay time is related to the charging time of the power capacitor circuit. When the power delay time is up, the power capacitor circuit triggers the power switch circuit to shut off the power supply to the power input terminal.

6. The drive device with emergency response capability as described in claim 5, wherein, After the emergency stop procedure is completed, the emergency switch triggers the processing device again to cause the processing device to perform a reset procedure. The reset procedure includes discharging the power capacitor circuit and charging the front capacitor circuit. When the power capacitor circuit finishes discharging, the power switch circuit is triggered to supply power to the power input terminal. Subsequently, when the front capacitor circuit is fully charged, the control device is awakened and the rear capacitor circuit begins to discharge. After the rear capacitor circuit finishes discharging, the drive device is awakened.

7. The drive device with emergency response capability as described in claim 6, wherein, The power switch circuit includes a comparator and an electronic switch element. The comparator is connected to the power capacitor circuit and the electronic switch element. The electronic switch element is connected to the power supply and the power input terminal. The comparator triggers the electronic switch element according to the voltage level of the power capacitor circuit.

8. The drive device with emergency response capability as described in claim 6, wherein, The time difference between the activation of the control device and the drive device is related to the discharge time of the back-end capacitor circuit.

9. The drive device with emergency response capability as described in claim 1, wherein, The power delay time and the control time start timing synchronously.

10. The drive device with emergency response capability as described in claim 1, wherein, The drive unit stops the motor based on the deceleration signal.

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