Driving brake circuit of mechanical arm and mechanical arm

Abstract

The present application discloses a driving brake circuit of a robotic arm and a robotic arm, and belongs to the field of motor control technology. The driving brake circuit includes a driving module, a motor module, a brake module and an energy storage module. The driving module and the energy storage module are respectively connected to the power module, and the motor module and the brake module are respectively connected to the driving module. In the driving brake circuit, the power module charges the energy storage module when it is powered on. After the power module loses power, the energy storage module supplies power to the driving module. At this time, the driving module performs a delayed braking function, that is, the driving module drives the motor module to decelerate to a preset speed, and then drives the brake module to lock the motor module. In this way, the mechanical stress generated when the brake module locks the motor module can be reduced, thereby improving the service life of the robotic arm using the driving brake circuit.

Description

Technical Field

[0001] The present application relates to the technical field of motor control, and in particular to a driving brake circuit of a robotic arm and a robotic arm. Background Art

[0002] Robot is a common name for automatic control machines (Robot), usually including all machines that simulate human behavior or thoughts, as well as other biological machines, such as robotic arms. Robots can include motors, actuators, and brakes. When the robot is powered on, the motor drives the actuator to move to achieve the robot's actions. When the robot is powered off, the brake instantly locks the output shaft of the motor so that it cannot continue to rotate, thereby keeping the robot in a stopped state.

[0003] In the related art, when the robot is powered off, the motor and brake of the robot lose power instantly, and the brake will immediately lock the motor, causing the robot to instantly switch from the action state to the stop action state.

[0004] However, when the power to the robot is cut off, the brake module instantly locks the high-speed rotating motor output shaft, forcing its speed to drop directly to zero. This causes the motor to bear huge mechanical stress, greatly shortening the service life of the motor and even the robot. Summary of the invention

[0005] The present application provides a driving brake circuit of a robot arm and a robot, which is used to solve the problem in the related art that when the robot is powered off, the brake module instantly locks the output shaft of the motor rotating at high speed, causing the motor to bear huge mechanical stress. The technical solution is as follows:

[0006] In a first aspect, a driving brake circuit of a robotic arm is provided, comprising: a driving module, a motor module, a brake module and an energy storage module;

[0007] The drive module and the energy storage module are connected to the power module respectively, and the motor module and the brake module are connected to the drive module respectively;

[0008] The energy storage module is charged when the power module is powered on, and supplies power to the drive module after the power module is powered off;

[0009] The drive module is configured to perform a delayed brake function when the power module loses power;

[0010] The delayed brake function includes: driving the motor module to decelerate to a preset speed, and then driving the brake module to lock the motor module.

[0011] Optionally, the driving brake circuit further includes: a power failure detection module connected to the power module and the driving module respectively;

[0012] The power failure detection module is configured to detect whether the power module is powered off based on an input signal of the power module, and trigger the drive module to perform a delayed braking function when power failure of the power module is detected.

[0013] Optionally, the input signal of the power module is an AC signal;

[0014] Detecting whether the power module is powered off based on the input signal of the power module includes:

[0015] Whether the power module is powered off is detected based on the waveform of the input signal of the power module.

[0016] Optionally, the driving brake circuit further includes: an encoding module connected to the motor module and the driving module respectively;

[0017] The encoding module is configured to detect the real-time rotation speed of the motor module and output the detected real-time rotation speed to the driving module.

[0018] Optionally, the driving module includes a current adjustment unit;

[0019] The current adjustment unit is configured to control the current in the brake module to remain unchanged when the drive module drives the motor module to decelerate to a preset speed.

[0020] Optionally, the current adjustment unit is configured as:

[0021] When the driving module drives the motor module to decelerate to a preset speed, the current output to the brake module is adjusted based on the output voltage of the energy storage module to control the current in the brake module to remain unchanged.

[0022] Optionally, the current adjustment unit includes:

[0023] a voltage detector, a first controller, and a current regulator;

[0024] The voltage detector is used to detect the output voltage of the energy storage module;

[0025] The output end of the voltage detector is connected to the input end of the first controller; the first controller generates a first control signal according to the output voltage of the energy storage module;

[0026] The current regulator is connected to the first controller, the energy storage module and the brake module respectively, and is used to adjust the current output from the energy storage module to the brake module according to the first control signal to control the current in the brake module to remain unchanged.

[0027] Optionally, the voltage detector includes: a first resistor, a second resistor, a third resistor and a first capacitor;

[0028] The first end of the first resistor is connected to the energy storage module;

[0029] The first end of the second resistor is connected to the second end of the first resistor, and the second end of the second resistor is connected to the ground line;

[0030] The first plate of the first capacitor is connected to the first end of the second resistor, and the second plate of the first capacitor is connected to the ground line;

[0031] The first end of the third resistor is connected to the second end of the first resistor, and the second end of the third resistor is connected to the input end of the first controller.

[0032] Optionally, the current regulator includes: a fourth resistor, a fifth resistor, a first single chip computer, a sixth resistor and a first transistor;

[0033] A first end of the fourth resistor is connected to the output end of the first controller to obtain a first control signal;

[0034] A first end of the fifth resistor is connected to a second end of the fourth resistor, and a second end of the fifth resistor is connected to a ground line;

[0035] The first pin of the first single-chip microcomputer is connected to the second end of the fourth resistor to obtain a first control signal, and a level signal is generated according to the first control signal, and the level signal is output from the second pin of the first single-chip microcomputer;

[0036] A first end of the sixth resistor is connected to a second pin of the first single chip microcomputer;

[0037] The gate of the first transistor is connected to the second end of the sixth resistor, the drain of the first transistor is connected to the energy storage module, the source of the first transistor is connected to the brake module, and the level signal controls the duty cycle of the first transistor to adjust the current output from the energy storage module to the brake module.

[0038] Optionally, the driving module further includes: a voltage conversion unit connected to the energy storage module and the current adjustment unit respectively;

[0039] The voltage conversion unit is configured to convert a first voltage output by the energy storage module into a second voltage.

[0040] Optionally, the current adjustment unit includes: a second controller and a constant current device;

[0041] The input end of the second controller is used to detect whether the power module is powered off. When the power module is powered off, the second controller generates a second control signal;

[0042] The current regulator is connected to the second controller, the voltage conversion unit and the brake module respectively, and is used to adjust the current in the brake module according to the second control signal to control the current in the brake module to remain unchanged.

[0043] Optionally, the constant current device includes: a second single chip microcomputer, a fourth capacitor, an inductor, a voltage stabilizing diode and a seventh resistor;

[0044] The first pin of the second single-chip microcomputer is connected to the output end of the second controller to obtain a second control signal, the second pin of the second single-chip microcomputer is connected to the output end of the voltage conversion unit, and the third pin of the second single-chip microcomputer is connected to the ground line;

[0045] A first end of the seventh resistor is connected to the output end of the voltage conversion unit, and a second end of the seventh resistor is connected to the first end of the brake module;

[0046] The first end of the inductor is connected to the fourth pin of the second single-chip microcomputer, and the second end of the inductor is connected to the second end of the brake module;

[0047] The first electrode plate of the fourth capacitor is connected to the second end of the seventh resistor, and the second electrode plate of the fourth capacitor is connected to the second end of the inductor;

[0048] The anode of the voltage stabilizing diode is connected to the fourth pin of the second single chip computer, and the cathode of the voltage stabilizing diode is connected to the first end of the seventh resistor.

[0049] In a second aspect, a robot arm is provided, comprising a driving brake circuit of the robot arm according to the first aspect.

[0050] In the present application, the driving brake circuit includes a driving module, a motor module, a brake module and an energy storage module. The driving module and the energy storage module are respectively connected to the power module, and the motor module and the brake module are respectively connected to the driving module. When the driving brake circuit is working, if the power module is powered on, the power module charges the energy storage module and supplies power to the driving module. At this time, the driving module outputs electric energy to the motor module and the brake module, so that the motor module can be controlled to work, and the brake module does not lock the motor module. After the power module loses power, the energy storage module supplies power to the driving module. At this time, the driving module performs a delayed braking function, that is, the driving module drives the motor module to decelerate to a preset speed, and then drives the brake module to lock the motor module. In this way, the mechanical stress generated when the brake module locks the motor module can be reduced, thereby improving the service life of the robot using the driving brake circuit. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0052] Figure 1 This is a schematic diagram of the module structure of the first driving brake circuit provided in an embodiment of the present application;

[0053] Figure 2 It is a schematic diagram of the module structure of the second driving brake circuit provided in an embodiment of the present application;

[0054] Figure 3 It is a schematic diagram of the module structure of the third driving brake circuit provided in an embodiment of the present application;

[0055] Figure 4 This is a schematic diagram of the module structure of the fourth driving brake circuit provided in an embodiment of the present application;

[0056] Figure 5 It is a schematic diagram of the module structure of the first current adjustment unit provided in an embodiment of the present application;

[0057] Figure 6 is a circuit structure diagram of a voltage detector provided in an embodiment of the present application;

[0058] Figure 7 is a circuit structure diagram of a first current regulator provided in an embodiment of the present application;

[0059] Figure 8 is a circuit structure diagram of a second current regulator provided in an embodiment of the present application;

[0060] Fig. 9 This is a schematic diagram of the module structure of the fifth driving brake circuit provided in an embodiment of the present application;

[0061] Fig.10 is a schematic diagram of the module structure of the second current adjustment unit provided in an embodiment of the present application;

[0062] Fig.11 is a circuit structure diagram of a first type of constant current device provided in an embodiment of the present application;

[0063] Fig.12 4 is a circuit diagram of a second type of constant current device provided in an embodiment of the present application.

[0064] The meanings of the figures are as follows:

[0065] 10. Drive brake circuit;

[0066] 102. Power module;

[0067] 104. Energy storage module;

[0068] 110. Driver module;

[0069] 112. Motor control unit;

[0070] 114. Current adjustment unit;

[0071] 1141, voltage detector;

[0072] 1142. A first controller;

[0073] 1143. Current regulator;

[0074] 1144, second controller;

[0075] 1145, constant current device;

[0076] 116. Voltage conversion unit;

[0077] 120. Motor module;

[0078] 130, brake module;

[0079] 140. Power failure detection module;

[0080] 150. Encoding module. DETAILED DESCRIPTION

[0081] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0082] It should be understood that the "multiple" mentioned in this application refers to two or more. In the description of this application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in order to facilitate the clear description of the technical solution of this application, the words "first" and "second" are used to distinguish between the same items or similar items with basically the same functions and effects. Those skilled in the art can understand that the words "first" and "second" do not limit the quantity and execution order, and the words "first" and "second" do not limit them to be different.

[0083] Before explaining the embodiments of the present application in detail, the application scenarios of the embodiments of the present application are first described.

[0084] Robot is a common name for automatic control machines (Robot), usually including all machines that simulate human behavior or thoughts, as well as other biological machines, such as robotic arms. Robots can include motor modules, actuators, and brake modules. The motor module is connected to the actuator. When the robot is powered on, the motor module works and drives the actuator to move to achieve the robot's action. When the robot loses power, the brake module can lock the motor module, so that the robot remains in a stopped state.

[0085] In the related art, when the robot is powered off, the motor module and brake module of the robot lose power instantly. At this time, the brake module will immediately lock the motor module, so that the robot switches from the action state to the stop action state. However, when the robot is powered off, the motor module still has a high speed due to inertia. At this time, the brake module immediately locks the motor module, which will generate huge mechanical stress and shorten the service life of the robot.

[0086] To this end, an embodiment of the present application provides a driving brake circuit for a robotic arm and a robotic arm, which can reduce the mechanical stress generated when the brake module locks the robot after the robot is powered off, thereby extending the service life of the robot.

[0087] The drive brake circuit provided in the embodiment of the present application is explained in detail below. The drive brake circuit provided in the embodiment of the present application is applied to a robot, for example, the drive brake circuit can be applied to a robotic arm. In each embodiment of the present application, the connection between two electrical devices refers to an electrical connection. The electrical connection here refers to a wired or wireless connection between two electrical devices to transmit electrical signals.

[0088] Figure 1 1 is a schematic diagram of a module structure of a driving brake circuit 10 provided in an embodiment of the present application. Figure 1 As shown, the driving brake circuit 10 includes a driving module 110 , a motor module 120 , a brake module 130 and an energy storage module 104 .

[0089] The drive module 110 may be a drive controller, which is used to supply power to the motor module 120 and the brake module 130, and control the motor module 120 and the brake module 130 to work. In some embodiments, the drive module 110 may be a stepper motor driver, or a servo motor driver, etc. The energy storage module 104 is used to store and release electrical energy, and may be a capacitor or / and a battery with the function of storing and releasing electrical energy. In some embodiments, the energy storage module 104 may include one capacitor, or may include multiple capacitors, and multiple capacitors are connected in series or in parallel to form the energy storage module 104. The drive module 110 and the energy storage module 104 are respectively connected to the power module 102, so that the drive module 110 and the energy storage module 104 can obtain the electrical energy output by the power module 102. In this way, when the power module 102 is powered on, the power module 102 can supply power to the drive module 110 and charge the energy storage module 104; when the power module 102 is powered off, the energy storage module 104 can supply power to the drive module 110.

[0090] The motor module 120 may be a motor, including a mechanical structure and a circuit structure of the motor. The motor module 120 is used to work under the drive of the drive module 110, so as to realize the movement of the robot. In some embodiments, the motor module 120 may be a stepper motor, or a servo motor, etc. The brake module 130 may be a brake, and the brake module 130 is used to release the motor module 120 or lock the motor module 120 under the drive of the drive module 110. In some embodiments, the brake module 130 may be a striker brake, or an electromagnetic brake, etc. The motor module 120 and the brake module 130 are respectively connected to the drive module 110, so that when the power module 102 or the energy storage module 104 supplies power to the drive module 110, the drive module 110 can output electric energy to the motor module 120 and the brake module 130, and control the motor module 120 and the brake module 130 to work.

[0091] In the embodiment of the present application, the output end of the power module 102 may be connected to a DC bus. The drive module 110 and the energy storage module 104 are both connected to the DC bus. Figure 1 In the embodiment shown, the first voltage V1 represents the output voltage of the power module 102, that is, the voltage of the DC bus. The working process of the driving brake circuit 10 is:

[0092] When the power module 102 is powered on, the power module 102 charges the energy storage module 104, and the power module 102 supplies power to the drive module 110. At this time, the drive module 110 outputs electric energy to the motor module 120 and the brake module 130, controls the motor module 120 to work, and controls the brake module 130 to be powered on and opened, without locking the motor. When the power module 102 is powered off, the energy storage module 104 starts to discharge, and the energy storage module 104 supplies power to the drive module 110. The drive module 110 is configured to perform a delayed brake function when the power module 102 is powered off. The delayed brake function includes: the drive module 110 outputs electric energy to the motor module 120 and the brake module 130, controls the motor module 120 to decelerate, and controls the brake module 130 to be powered on and opened, without locking the motor; after the motor module 120 decelerates to a preset speed, the drive module 110 drives the brake module 130 to lock the motor module 120. Among them, the implementation method of "the driving module 110 drives the brake module 130 to lock the motor module 120" includes: the driving module 110 stops outputting electric energy to the brake module 130, and the brake module 130 automatically locks the motor module 120 after power failure. After the power module 102 loses power, the driving brake circuit 10 supplies power to the driving module 110 from the energy storage module 104. At this time, the driving module 110 can first drive the motor module 120 to decelerate to a preset speed, and then drive the brake module 130 to lock the motor module 120. In this way, the mechanical stress generated when the brake module 130 locks the motor module 120 can be reduced, thereby improving the service life of the robot arm using the driving brake circuit 10.

[0093] In some embodiments, the preset speed may be a fixed speed value, such as 100 rpm, or 0. In other embodiments, the preset speed may be the product of the speed of the motor module 120 before the power module 102 loses power and a preset percentage. The preset percentage here should be less than 100% and greater than or equal to 0. For example, the preset percentage may be 10%, or 20% or 50%, etc. When the driving module 110 drives the motor module 120 to decelerate, the motor module 120 may be driven to decelerate at the maximum acceleration of the motor module 120.

[0094] In some embodiments, the energy storage module 104 may include a super capacitor E1. When the energy storage module 104 includes the super capacitor E1, the first plate of the super capacitor E1 may be connected to the output terminal of the power module 102, and the second plate of the super capacitor E1 may be connected to the ground line GND.

[0095] In some embodiments, the driving brake circuit 10 may further include the above-mentioned power module 102. The power module 102 may be an AC-DC converter. The AC-DC converter is used to convert the input AC power into DC power and output it. The input end of the power module 102 may be connected to the mains, so as to input AC power. The output end of the power module 102 may be connected to the energy storage module 104 and the driving module 110. In other embodiments, the power module 102 may also be a power supply for outputting constant voltage DC power, etc., which is not limited here.

[0096] In some embodiments, Figure 2 As shown, the driving brake circuit 10 may further include a power failure detection module 140 .

[0097] The power failure detection module 140 is connected to the power module 102 and the drive module 110 respectively. The power failure detection module 140 is configured to detect whether the power module 102 is powered off based on the input signal of the power module 102, and trigger the drive module 110 to perform the delayed braking function when the power module 102 is detected to be powered off.

[0098] Specifically, the power failure detection module 140 is connected between the power module 102 and the driving module 110. The power failure detection module 140 can detect the input signal of the power module 102 and determine whether the power module 102 is powered off according to the input signal of the power module 102.

[0099] In some embodiments, the power failure detection module 140 can detect whether the power module 102 has an input signal. When the power failure detection module 140 detects that the power module 102 has an input signal, it is determined that the power module 102 is not powered off; when the power failure detection module 140 detects that the power module 102 does not have an input signal, it is determined that the power module 102 is powered off.

[0100] In other embodiments, when the power module 102 is an AC / DC converter and the input signal of the power module 102 is an AC signal, the power-off detection module 140 can detect whether the power module 102 is powered off based on the waveform of the input signal of the power module 102. That is, the power-off detection module 140 detects the waveform of the input signal of the power module 102 and compares it with a preset waveform. When the waveform of the input signal of the power module 102 is consistent with the preset waveform, the power-off detection module 140 obtains that the power module 102 is not powered off; when the waveform of the input signal of the power module 102 is inconsistent with the preset waveform, the power-off detection module 140 obtains that the power module 102 is powered off.

[0101] When the power failure detection module 140 obtains that the power module 102 is powered off, the driving module 110 is triggered to perform the delayed brake function. In other words, the power failure detection module 140 sends a trigger signal when the power module 102 is powered off. When the driving module 110 receives the trigger signal, it controls the motor module 120 to decelerate to a preset speed, and then the driving module 110 drives the brake module 130 to lock the motor module 120.

[0102] In some embodiments, Figure 3 As shown, the driving brake circuit 10 further includes an encoding module 150 .

[0103] The encoding module 150 is connected to the motor module 120 and the driving module 110 respectively. The encoding module 150 is configured to detect the real-time rotation speed of the motor module 120 and output the detected real-time rotation speed to the driving module 110 .

[0104] Specifically, when the driving module 110 performs the delayed brake function, it is necessary to first drive the motor module 120 to decelerate to a preset speed, and then drive the brake module 130 to lock the motor module 120. In this process, the driving module 110 can drive the motor module 120 to decelerate, and detect the real-time speed of the motor through the encoding module 150. After the driving module 110 obtains the real-time speed of the motor module 120, the real-time speed of the motor module 120 is compared with the preset speed. If the real-time speed of the motor module 120 is less than or equal to the preset speed, the driving module 110 drives the brake module 130 to lock the motor module 120.

[0105] In some embodiments, the motor module 120 includes a rotating shaft for rotation. The encoding module 150 may include an encoder and a computing unit, and the encoder includes a magnetic ring and a reading head. The magnetic ring in the encoder may be fixedly connected to the rotating shaft of the motor module 120, and the reading head may be fixedly connected to other parts of the motor module 120, so that when the motor module 120 is working, the magnetic ring rotates with the rotating shaft, and the reading head does not rotate with the rotating shaft. In this way, when the motor module 120 is working and the rotating shaft rotates, the encoder can read the position value of the rotating shaft at a preset time interval through the magnetic ring and the reading head and output it to the computing unit. The computing unit can calculate the real-time speed of the rotating shaft of the motor module 120 through the change in the position value of the rotating shaft and the preset time.

[0106] In some embodiments, Figure 4 As shown, the driving brake circuit 10 may include a plurality of driving modules 110 , a plurality of motor modules 120 , a plurality of brake modules 130 and a plurality of encoding modules 150 .

[0107] The number of drive modules 110, the number of motor modules 120, the number of brake modules 130 and the number of encoding modules 150 may be correspondingly equal. Each drive module 110 is connected to the output end of the power module 102 and the energy storage module 104, and each drive module 110 is connected to the power failure detection module 140. When the power failure detection module 140 detects that the power module 102 is powered off, it triggers each drive module 110 to perform the delayed brake function. When each drive module 110 performs the delayed brake function, it drives the corresponding motor module 120 to decelerate, and detects the real-time speed of the motor module 120 through the corresponding encoding module 150. When the real-time speed of the motor module 120 is equal to or less than the preset speed, the drive module 110 drives the corresponding brake module 130 to lock the motor module 120.

[0108] In some embodiments, Figure 3 and Figure 4 As shown, the driving module 110 may include a motor control unit 112 and a current adjustment unit 114 .

[0109] The motor control unit 112 is connected between the power module 102 and the motor module 120. When the power module 102 is powered on, the power module 102 supplies power to the motor control unit 112, and the motor control unit 112 can control the motor module 120 to power on and work. When the power module 102 is powered off, the energy storage module 104 supplies power to the motor control unit 112, and the motor control unit 112 can control the motor module 120 to decelerate.

[0110] The current adjustment unit 114 is connected between the power module 102 and the brake module 130. The current adjustment unit 114 is configured to control the current in the brake module 130 to remain unchanged when the drive module 110 drives the motor module 120 to decelerate to a preset speed.

[0111] Specifically, when the driving module 110 drives the motor module 120 to decelerate to a preset speed, the current adjustment unit 114 needs to maintain the current in the brake module 130 unchanged, so as to prevent the brake module 130 from prematurely locking the motor module 120. In other words, after the power module 102 loses power and before the motor module 120 decelerates to a preset speed, the current output by the current adjustment unit 114 to the brake module 130 remains unchanged, so as to prevent the brake module 130 from prematurely losing power and locking the motor module 120.

[0112] Different implementations of the current adjustment unit 114 are described below in conjunction with specific embodiments.

[0113] In a first possible implementation, the current adjustment unit 114 is configured to: during the process of the drive module 110 driving the motor module 120 to decelerate to a preset speed, adjust the current output to the brake module 130 based on the output voltage of the energy storage module 104, so as to control the current in the brake module 130 to remain unchanged. In other words, after the power module 102 loses power, the energy storage module 104 supplies power to the drive module 110, and during the process of the drive module 110 driving the motor module 120 to decelerate to a preset speed, the current adjustment unit 114 detects the output voltage of the energy storage module 104, and adjusts the current output to the brake module 130 according to the output voltage of the energy storage module 104, so as to control the current in the brake module 130 to remain unchanged.

[0114] Figure 5 is a schematic diagram of a module structure of a current adjustment unit 114 provided in an embodiment of the present application. Figure 5 As shown, in some embodiments, the current adjustment unit 114 includes a voltage detector 1141 , a first controller 1142 , and a current regulator 1143 .

[0115] The voltage detector 1141 is connected between the energy storage module 104 and the first controller 1142, and is used to detect the output voltage of the energy storage module 104. That is, the input end of the voltage detector 1141 is connected to the energy storage module 104, and the output end of the voltage detector 1141 is connected to the input end of the first controller 1142, so as to detect the output voltage of the energy storage module 104, and transmit the magnitude of the output voltage to the first controller 1142. The first controller 1142 is used to generate a first control signal according to the output voltage of the energy storage module 104.

[0116] The current regulator 1143 is connected to the first controller 1142 , the energy storage module 104 and the brake module 130 respectively, and is used to adjust the current output from the energy storage module 104 to the brake module 130 according to the first control signal to control the current in the brake module 130 to remain unchanged.

[0117] Specifically, it is known from the above description that the output end of the power module 102 is connected to a DC bus, and the drive module 110 and the energy storage module 104 are both connected to the DC bus. The first voltage V1 in the figure can represent the voltage of the DC bus, and can also represent the voltage of the energy storage module 104. The output voltage of the power module 102 can be 48V. That is, when the energy storage module 104 is fully charged, the voltage of the energy storage module 104 is 48V. After the power module 102 is powered off, the output voltage of the energy storage module 104 will continue to decrease from 48V, and the voltage output from the energy storage module 104 to the current regulator 1143 will also continue to decrease. The voltage detector 1141 is used to detect the output voltage of the energy storage module 104, and the first controller 1142 is used to generate a first control signal according to the output voltage of the energy storage module 104. The first control signal is used to adjust the duty cycle of the current regulator 1143, thereby adjusting the current output from the current regulator 1143 to the brake module 130. The duty cycle of the current regulator 1143 refers to the percentage of the closing time of the current regulator 1143 to the total closing and closing time.

[0118] For example, if the current in the brake module 130 needs to be constant at 0.2A, and the resistance of the coil in the brake module 130 is 24Ω, then the actual voltage required by the coil in the brake module 130 is 4.8V. At this time, if the voltage detector 1141 detects that the output voltage of the energy storage module 104 is 48V, the first controller 1142 can control the duty cycle of the current regulator 1143 to 10% so that the current in the brake module 130 is 0.2A. If the voltage detector 1141 detects that the output voltage of the energy storage module 104 is 24V, the first controller 1142 can control the duty cycle of the current regulator 1143 to 20%. In this way, when the output voltage of the energy storage module 104 drops from 48V to 4.8V, the first controller 1142 can keep the current in the brake module 130 constant by continuously adjusting the duty cycle of the current regulator 1143.

[0119] Figure 6 1 is a circuit diagram of a voltage detector 1141 provided in an embodiment of the present application. Figure 6 As shown, in some embodiments, the voltage detector 1141 includes a first resistor R1, a second resistor R2, and a first capacitor C1.

[0120] The first resistor R1 and the second resistor R2 are connected in series between the energy storage module 104 and the ground line GND. In other words, the first end of the first resistor R1 is connected to the energy storage module 104, the first end of the second resistor R2 is connected to the second end of the first resistor R1, and the second end of the second resistor R2 is connected to the ground line GND. The first end of the third resistor R3 is connected to the second end of the first resistor R1, and the second end of the third resistor R3 is connected to the input end of the first controller 1142. The first capacitor C1 is a voltage-stabilizing capacitor, the first plate of the first capacitor C1 is connected to the first end of the second resistor, and the second plate of the first capacitor C1 is connected to the ground line GND. Among them, the resistance value of the first resistor R1 can be 30KΩ, the resistance value of the second resistor R2 can be 1KΩ, the resistance value of the third resistor R3 can be 1KΩ, and the capacitance of the first capacitor C1 can be 0.1μF.

[0121] Figure 7 1 is a circuit diagram of a current regulator 1143 provided in an embodiment of the present application. Figure 7 As shown, in some embodiments, the current regulator 1143 includes a fourth resistor R4, a fifth resistor R5, a first single chip microcomputer U1, a sixth resistor R6 and a first transistor M1.

[0122] The fourth resistor R4 and the fifth resistor R5 are connected in series between the output end of the first controller 1142 and the ground line GND. In other words, the first end of the fourth resistor R4 is connected to the output end of the first controller 1142. The first end of the fifth resistor R5 is connected to the second end of the fourth resistor R4, and the second end of the fifth resistor R5 is connected to the ground line GND. The first pin P1 of the first single-chip microcomputer U1 is connected to the second end of the fourth resistor R4. The first single-chip microcomputer U1 is used to obtain the first control signal and generate a level signal according to the first control signal. The level signal is output from the second pin P2 of the first single-chip microcomputer U1. The first end of the sixth resistor R6 is connected to the second pin P2 of the first single-chip microcomputer U1. The gate of the first transistor M1 is connected to the second end of the sixth resistor R6, the drain of the first transistor M1 is connected to the first end of the energy storage module 104, and the source of the first transistor M1 is connected to the first end of the brake module 130. The level signal output by the first single-chip microcomputer U1 is used to control the duty cycle of the first transistor M1, thereby adjusting the current output to the brake module 130. The duty cycle of the first transistor M1 refers to the percentage of the closing time between the source and the drain of the first transistor M1 to the total closing and closing time. In the embodiment of the present application, the duty cycle of the first transistor M1 is the duty cycle of the current regulator 1143. Among them, the resistance value of the fourth resistor R4 can be 1KΩ, the resistance value of the fifth resistor R5 can be 10KΩ, and the resistance value of the sixth resistor R6 can be 75Ω. The first single-chip microcomputer U1 can be a voltage conversion chip to ensure that the first control signal can drive the first transistor M1 after voltage conversion by the first single-chip microcomputer U1.

[0123] In some embodiments, Figure 8 As shown, the first single-chip microcomputer U1 also has a third pin P3, a fourth pin P4 and a fifth pin P5. The third pin P3 of the first single-chip microcomputer U1 is a power pin of the single-chip microcomputer U1, and is used to input a third voltage V3. The third voltage V3 can be 14V. The third voltage V3 can be converted from the first voltage V1, or provided by an independent DC power supply. A sixth capacitor C6 can be connected between the third pin P3 and the fourth pin P4 of the first single-chip microcomputer U1. The fourth pin P4 and the fifth pin P5 of the first single-chip microcomputer U1 are both connected to the ground wire GND. Figure 6 In the embodiment shown, the first transistor M1 can also be replaced by a third single-chip microcomputer U3 having the same function. The model of the third single-chip microcomputer U3 can be AONR62818.

[0124] In some embodiments, Figure 8 As shown, the driving brake circuit 10 may further include a second capacitor C2 and a third capacitor C3.

[0125] Specifically, the second capacitor C2 is connected between the energy storage module 104 and the ground line GND. In other words, the first plate of the second capacitor C2 is connected to the energy storage module 104, and the second plate of the second capacitor C2 is connected to the ground line GND. The third capacitor C3 is connected between the energy storage module 104 and the ground line GND. In other words, the first plate of the third capacitor C3 is connected to the energy storage module 104, and the third plate of the third capacitor C3 is connected to the ground line GND. The second capacitor C2 and the third capacitor C3 are voltage-stabilizing capacitors for reducing the fluctuation of the voltage output from the energy storage module 104 to the driving module 110. Among them, the capacitance value of the second capacitor C2 can be 1μF, and the capacitance value of the third capacitor C3 can be 100nF.

[0126] In some embodiments, the driving brake circuit 10 may further include a diode D2. The cathode of the diode D2 is connected to the energy storage module 104, and the anode of the diode D2 is connected to the current regulator 1143. The diode D2 can be used to provide freewheeling for the brake module 130. When the cathode voltage of the diode D2 exceeds the breakdown voltage of the diode D2, the diode D2 is broken down, and the brake module 130 is short-circuited by the diode D2. At this time, the brake module 130 does not work.

[0127] In a second possible implementation, the current adjustment unit 114 is configured to control the current in the brake module 130 to remain unchanged based on the constant current chip during the process of the drive module 110 driving the motor module 120 to decelerate to a preset speed. In other words, after the power module 102 loses power, the energy storage module 104 supplies power to the drive module 110, and during the process of the drive module 110 driving the motor module 120 to decelerate to a preset speed, the constant current chip in the current adjustment unit 114 outputs current to the brake module 130, so that the current in the brake module 130 remains unchanged.

[0128] Fig. 9 1 is a schematic diagram of a module structure of another driving brake circuit 10 provided in an embodiment of the present application. Fig. 9 As shown, the driving module 110 in the driving brake circuit 10 further includes a voltage conversion unit 116 .

[0129] Specifically, the voltage conversion unit 116 is connected to the energy storage module 104 and the current adjustment unit 114 respectively. The voltage conversion unit 116 is used to convert the first voltage V1 output by the energy storage module 104 into a second voltage V2. The second voltage V2 can be 24V, and the second voltage V2 is output to the current adjustment unit 114.

[0130] In some embodiments, Fig.10 is a schematic diagram of the module structure of another current adjustment unit 114 provided in an embodiment of the present application. Fig.10 As shown, the current adjustment unit 114 includes a second controller 1144 and a constant current device 1145 .

[0131] The second controller 1144 has an input end and an output end. The input end of the second controller 1144 can be connected to the power failure detection module 140 to determine whether the power module 102 is powered off. When the power module 102 is powered off, the second controller 1144 generates a second control signal. The second control signal can be a work trigger signal. The second control signal is output from the output end of the second controller 1144. The second control signal is used to drive the constant current 1145 to work.

[0132] The current regulator 1145 is respectively connected to the second controller 1144, the voltage conversion unit 116 and the brake module 130. The voltage conversion unit 116 is used to provide electric energy to the current regulator 1145. The second control signal output by the second controller 1144 is used to drive the current regulator 1145 to work. When the current regulator 1145 works, the current in the brake module 130 is adjusted, so that the current in the brake module 130 is controlled to remain unchanged.

[0133] Fig.11 1 is a circuit diagram of a constant current device 1145 provided in an embodiment of the present application. Fig.11 As shown, in some embodiments, the constant current device 1145 may include a second single chip microcomputer U2, a fourth capacitor C4, an inductor L1, a voltage regulator diode D1 and a seventh resistor R7.

[0134] Specifically, the second single-chip microcomputer U2 has a first pin P1, a second pin P2, a third pin P3 and a fourth pin P4. The first pin P1 of the second single-chip microcomputer U2 is connected to the output end of the second controller 1144, and is used to obtain the second control signal output by the second controller 1144, and starts working under the drive of the second control signal. The second pin P2 of the second single-chip microcomputer U2 is connected to the output end of the voltage conversion unit 116, and is used to detect the magnitude of the second voltage V2 output by the voltage conversion unit 116. The third pin P3 of the second single-chip microcomputer U2 is connected to the ground line GND. The resistor R7 is connected between the output end of the voltage conversion unit 116 and the first end of the brake module 130. In other words, the first end of the resistor R7 is connected to the output end of the voltage conversion unit 116, and the second end of the seventh resistor R7 is connected to the first end of the brake module 130. The inductor L1 is connected between the fourth pin P4 of the second single-chip microcomputer U2 and the second end of the brake module 130. In other words, the first end of the inductor L1 is connected to the fourth pin P4 of the second single-chip microcomputer U2, and the second end of the inductor L1 is connected to the second end of the brake module 130. The fourth capacitor C4 is connected between the second end of the seventh resistor R7 and the second end of the inductor L1. In other words, the first plate of the fourth capacitor C4 is connected to the second end of the seventh resistor R7, and the second plate of the fourth capacitor C4 is connected to the second end of the inductor L1. The voltage regulator diode D1 is connected between the fourth pin P4 of the second single-chip microcomputer U2 and the first end of the seventh resistor R7. In other words, the anode of the voltage regulator diode D1 is connected to the fourth pin P4 of the second single-chip microcomputer U2, and the cathode of the voltage regulator diode D1 is connected to the first end of the seventh resistor R7. In the embodiment of the present application, the second single-chip microcomputer U2 can be a constant current chip of model SY8750, so that when the second single-chip microcomputer U2 is working, the current in the brake module 130 is constant. The capacitance value of the fourth capacitor C4 can be 22μF. The inductance value of the inductor L1 can be 0.3μH.

[0135] In some embodiments, Fig.11 As shown, the driving module 110 may further include a fifth capacitor C5. The first plate of the fifth capacitor C5 is connected to the output end of the voltage conversion unit 116, and the second plate of the fifth capacitor C5 is connected to the ground line GND. The fifth capacitor C5 is a voltage stabilizing capacitor to stabilize the voltage output by the voltage conversion unit 116. The capacitance value of the fifth capacitor C5 may be 1 μF.

[0136] In some embodiments, Fig.12As shown, the second single-chip microcomputer U2 may further have a fifth pin P5, and the fifth pin P5 of the second single-chip microcomputer U2 is connected to the second end of the seventh resistor R7 for detecting the magnitude of the current output by the second end of the resistor R7.

[0137] In the embodiment of the present application, the driving brake circuit 10 includes a driving module 110, a motor module 120, a brake module 130 and an energy storage module 104. The driving module 110 and the energy storage module 104 are respectively connected to the power module 102, and the motor module 120 and the brake module 130 are respectively connected to the driving module 110. When the driving brake circuit 10 is working, if the power module 102 is powered on, the power module 102 charges the energy storage module 104 and supplies power to the driving module 110. At this time, the driving module 110 outputs electric energy to the motor module 120 and the brake module 130, so that the motor module 120 can be controlled to work, and the brake module 130 does not lock the motor module 120. After the power module 102 is powered off, the energy storage module 104 supplies power to the driving module 110. At this time, the driving module 110 performs a delayed brake function, that is, the driving module 110 drives the motor module 120 to decelerate to a preset speed, and then drives the brake module 130 to lock the motor module 120. In this way, the mechanical stress generated when the brake module 130 locks the motor module 120 can be reduced, thereby increasing the service life of the robot using the drive brake circuit 10 .

[0138] The driving brake circuit 10 includes a current adjustment unit 114 in its driving module 110. The current adjustment unit 114 is used to control the current in the brake module 130 to remain unchanged during the process of the driving module 110 driving the motor module 120 to decelerate to a preset speed, so as to prevent the brake module 130 from locking the motor module 120 in advance. The driving brake circuit 10 also includes a second capacitor C2, a third capacitor C3, and a diode D2. The second capacitor C2 and the third capacitor C3 are connected between the energy storage module 104 and the ground wire GND; the anode of the diode D2 is connected to the brake module 130, and the cathode of the diode D2 is connected to the energy storage module 104. The second capacitor C2 and the third capacitor C3 are voltage-stabilizing capacitors, which are used to reduce the fluctuation of the voltage output from the energy storage module 104 to the brake module 130. The diode D2 can be used to freewheel the brake module 130. When the cathode voltage of the diode D2 exceeds the breakdown voltage of the diode D2, the diode D2 is broken down, and the brake module 130 is short-circuited by the diode D2. At this time, the brake module 130 does not work. The brake driving circuit 10 may further include a fifth capacitor C5. The fifth capacitor C5 is a voltage stabilizing capacitor connected between the output end of the voltage conversion unit 116 and the ground line GND to stabilize the voltage output by the voltage conversion unit 116.

[0139] The embodiment of the present application further provides a mechanical arm. The mechanical arm is a type of robot. The mechanical arm includes a driving brake circuit 10 as in any one of the above embodiments.

[0140] Specifically, the driving brake circuit 10 includes a driving module 110 , a motor module 120 , a brake module 130 and an energy storage module 104 .

[0141] The drive module 110 and the energy storage module 104 are respectively connected to the power module 102, and the motor module 120 and the brake module 130 are respectively connected to the drive module 110. The energy storage module 104 is charged when the power module 102 is powered on, and supplies power to the drive module 110 after the power module 102 is powered off. The drive module 110 is configured to perform a delayed brake function when the power module 102 is powered off. The delayed brake function includes: driving the motor module 120 to decelerate to a preset speed, and then driving the brake module 130 to lock the motor module 120.

[0142] In some embodiments, the driving brake circuit 10 further includes: a power failure detection module 140 respectively connected to the power module 102 and the driving module 110. The power failure detection module 140 is configured to detect whether the power module 102 is powered off based on an input signal of the power module 102, and trigger the driving module 110 to perform a delayed braking function when it is detected that the power module 102 is powered off.

[0143] In some embodiments, the input signal of the power module 102 is an AC signal. Detecting whether the power module 102 is powered off based on the input signal of the power module 102 includes: detecting whether the power module 102 is powered off based on the waveform of the input signal of the power module 102.

[0144] In some embodiments, the driving brake circuit 10 further includes: an encoding module 150 connected to the motor module 120 and the driving module 110 respectively. The encoding module 150 is configured to detect the real-time rotation speed of the motor module 120 and output the detected real-time rotation speed to the driving module 110.

[0145] In some embodiments, the driving module 110 includes a current adjustment unit 114. The current adjustment unit 114 is configured to control the current in the brake module 130 to remain unchanged when the driving module 110 drives the motor module 120 to decelerate to a preset speed.

[0146] In some embodiments, the current adjustment unit 114 is configured to: during the process of the drive module 110 driving the motor module 120 to decelerate to a preset speed, adjust the current output to the brake module 130 based on the output voltage of the energy storage module 104 to control the current in the brake module 130 to remain unchanged.

[0147] In some embodiments, the current adjustment unit 114 includes: a voltage detector 1141, a first controller 1142, and a current regulator 1143. The voltage detector 1141 is used to detect the output voltage of the energy storage module 104. The output end of the voltage detector 1141 is connected to the input end of the first controller 1142. The first controller 1142 generates a first control signal according to the output voltage of the energy storage module 104. The current regulator 1143 is respectively connected to the first controller 1142, the energy storage module 104, and the brake module 130, and is used to adjust the current output from the energy storage module 104 to the brake module 130 according to the first control signal, so as to control the current in the brake module 130 to remain unchanged.

[0148] In some embodiments, the voltage detector 1141 includes: a first resistor, a second resistor, a third resistor and a first capacitor. The first end of the first resistor is connected to the energy storage module 104. The first end of the second resistor is connected to the second end of the first resistor, and the second end of the second resistor is connected to the ground line. The first plate of the first capacitor is connected to the first end of the second resistor, and the second plate of the first capacitor is connected to the ground line. The first end of the third resistor is connected to the second end of the first resistor, and the second end of the third resistor is connected to the input end of the first controller 1142.

[0149] In some embodiments, the current regulator 1143 includes: a fourth resistor, a fifth resistor, a first single-chip microcomputer, a sixth resistor, and a first transistor. The first end of the fourth resistor is connected to the output end of the first controller 1142 to obtain a first control signal. The first end of the fifth resistor is connected to the second end of the fourth resistor, and the second end of the fifth resistor is connected to the ground line. The first pin of the first single-chip microcomputer is connected to the second end of the fourth resistor to obtain the first control signal, and a level signal is generated according to the first control signal, and the level signal is output from the second pin of the first single-chip microcomputer. The first end of the sixth resistor is connected to the second pin of the first single-chip microcomputer. The gate of the first transistor is connected to the second end of the sixth resistor, the drain of the first transistor is connected to the energy storage module 104, the source of the first transistor is connected to the brake module 130, and the level signal controls the duty cycle of the first transistor to adjust the current output from the energy storage module 104 to the brake module 130.

[0150] In some embodiments, the driving module 110 further includes: a voltage conversion unit 116 connected to the energy storage module 104 and the current adjustment unit 114 respectively. The voltage conversion unit 116 is configured to convert a first voltage output by the energy storage module 104 into a second voltage.

[0151] In some embodiments, the current adjustment unit 114 includes: a second controller 1144 and a constant current 1145. The input end of the second controller 1144 is used to detect whether the power module 102 is powered off. When the power module 102 is powered off, the second controller 1144 generates a second control signal. The constant current 1145 is connected to the second controller 1144, the voltage conversion unit 116 and the brake module 130 respectively, and is used to adjust the current size in the brake module 130 according to the second control signal to control the current size in the brake module 130 to remain unchanged.

[0152] In some embodiments, the constant current device 1145 includes: a second single-chip microcomputer, a fourth capacitor, an inductor, a voltage regulator diode and a seventh resistor. The first pin of the second single-chip microcomputer is connected to the output end of the second controller 1144 to obtain the second control signal, the second pin of the second single-chip microcomputer is connected to the output end of the voltage conversion unit 116, and the third pin of the second single-chip microcomputer is connected to the ground wire. The first end of the seventh resistor is connected to the output end of the voltage conversion unit 116, and the second end of the seventh resistor is connected to the first end of the brake module 130. The first end of the inductor is connected to the fourth pin of the second single-chip microcomputer, and the second end of the inductor is connected to the second end of the brake module 130. The first plate of the fourth capacitor is connected to the second end of the seventh resistor, and the second plate of the fourth capacitor is connected to the second end of the inductor. The anode of the voltage regulator diode is connected to the fourth pin of the second single-chip microcomputer, and the cathode of the voltage regulator diode is connected to the first end of the seventh resistor.

[0153] In an embodiment of the present application, the mechanical arm includes a driving brake circuit 10 as described in any of the above embodiments. The driving brake circuit 10 includes a driving module 110, a motor module 120, a brake module 130 and an energy storage module 104. The driving module 110 and the energy storage module 104 are respectively connected to the power module 102, and the motor module 120 and the brake module 130 are respectively connected to the driving module 110. When the driving brake circuit 10 is working, if the power module 102 is powered on, the power module 102 charges the energy storage module 104 and supplies power to the driving module 110. At this time, the driving module 110 outputs electric energy to the motor module 120 and the brake module 130, so that the motor module 120 can be controlled to work, and the brake module 130 does not lock the motor module 120. After the power module 102 loses power, the energy storage module 104 supplies power to the driving module 110. At this time, the driving module 110 performs a delayed brake function, that is, the driving module 110 drives the motor module 120 to decelerate to a preset speed, and then drives the brake module 130 to lock the motor module 120. In this way, the mechanical stress generated when the brake module 130 locks the motor module 120 can be reduced, thereby improving the service life of the robot using the driving brake circuit 10.

[0154] The driving brake circuit 10 includes a current adjustment unit 114 in its driving module 110. The current adjustment unit 114 is used to control the current in the brake module 130 to remain unchanged during the process of the driving module 110 driving the motor module 120 to decelerate to a preset speed, so as to prevent the brake module 130 from locking the motor module 120 in advance. The driving brake circuit 10 also includes a second capacitor C2, a third capacitor C3, and a diode D2. The second capacitor C2 and the third capacitor C3 are connected between the energy storage module 104 and the ground wire GND; the anode of the diode D2 is connected to the brake module 130, and the cathode of the diode D2 is connected to the energy storage module 104. The second capacitor C2 and the third capacitor C3 are voltage-stabilizing capacitors, which are used to reduce the fluctuation of the voltage output from the energy storage module 104 to the brake module 130. The diode D2 can be used to freewheel the brake module 130. When the cathode voltage of the diode D2 exceeds the breakdown voltage of the diode D2, the diode D2 is broken down, and the brake module 130 is short-circuited by the diode D2. At this time, the brake module 130 does not work. The brake driving circuit 10 may further include a fifth capacitor C5. The fifth capacitor C5 is a voltage stabilizing capacitor connected between the output end of the voltage conversion unit 116 and the ground line GND to stabilize the voltage output by the voltage conversion unit 116.

[0155] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A driving brake circuit for a robot arm, characterized in that: include: Drive module, motor module, brake module and energy storage module; The drive module and the energy storage module are respectively connected to the power module, and the motor module and the brake module are respectively connected to the drive module; The energy storage module is charged when the power module is powered on, and supplies power to the driving module after the power module is powered off; The driving module is configured to perform a delayed braking function when the power module loses power; The delayed brake function includes: driving the motor module to decelerate to a preset speed, and then driving the brake module to lock the motor module; Wherein, the driving module comprises a current adjustment unit, and the current adjustment unit comprises a voltage detector, a first controller and a current regulator; The voltage detector is connected between the energy storage module and the first controller, and is used to detect the output voltage of the energy storage module; The first controller generates a first control signal according to the output voltage of the energy storage module; The current regulator is respectively connected to the first controller, the energy storage module and the brake module, and is used to adjust the current output from the energy storage module to the brake module according to the first control signal, so as to control the current in the brake module to remain unchanged when the drive module drives the motor module to decelerate to a preset speed.

2. The driving brake circuit according to claim 1, characterized in that: The driving brake circuit further includes: a power failure detection module connected to the power module and the driving module respectively; The power failure detection module is configured to detect whether the power module is powered off based on an input signal of the power module, and trigger the driving module to execute the delayed braking function when the power failure of the power module is detected.

3. The driving brake circuit according to claim 2, characterized in that: The input signal of the power module is an AC signal; The detecting whether the power module is powered off based on the input signal of the power module comprises: Whether the power module is powered off is detected based on the waveform of the input signal of the power module.

4. The driving brake circuit according to any one of claims 1 to 3, characterized in that: The driving brake circuit further includes: an encoding module connected to the motor module and the driving module respectively; The encoding module is configured to detect the real-time rotation speed of the motor module and output the detected real-time rotation speed to the driving module.

5. The driving brake circuit according to claim 1, characterized in that: The voltage detector comprises: a first resistor, a second resistor, a third resistor and a first capacitor; The first end of the first resistor is connected to the energy storage module; The first end of the second resistor is connected to the second end of the first resistor, and the second end of the second resistor is connected to the ground line; The first plate of the first capacitor is connected to the first end of the second resistor, and the second plate of the first capacitor is connected to the ground line; The first end of the third resistor is connected to the second end of the first resistor, and the second end of the third resistor is connected to the input end of the first controller.

6. The driving brake circuit according to claim 1 or 5, characterized in that: The current regulator comprises: a fourth resistor, a fifth resistor, a first single chip computer, a sixth resistor and a first transistor; A first end of the fourth resistor is connected to an output end of the first controller to obtain the first control signal; The first end of the fifth resistor is connected to the second end of the fourth resistor, and the second end of the fifth resistor is connected to the ground line; The first pin of the first single-chip microcomputer is connected to the second end of the fourth resistor to obtain the first control signal, and a level signal is generated according to the first control signal, and the level signal is output from the second pin of the first single-chip microcomputer; The first end of the sixth resistor is connected to the second pin of the first single chip microcomputer; The gate of the first transistor is connected to the second end of the sixth resistor, the drain of the first transistor is connected to the energy storage module, the source of the first transistor is connected to the brake module, and the level signal controls the duty cycle of the first transistor to adjust the current output from the energy storage module to the brake module.

7. The driving brake circuit according to claim 1, characterized in that: The driving module further includes: a voltage conversion unit connected to the energy storage module and the current adjustment unit respectively; The voltage conversion unit is configured to convert a first voltage output by the energy storage module into a second voltage.

8. The driving brake circuit according to claim 7, characterized in that: The current adjustment unit includes: a second controller and a constant current device; The input end of the second controller is used to detect whether the power module is powered off. When the power module is powered off, the second controller generates a second control signal; The current regulator is connected to the second controller, the voltage conversion unit and the brake module respectively, and is used to adjust the current in the brake module according to the second control signal to control the current in the brake module to remain unchanged.

9. The driving brake circuit according to claim 8, characterized in that: The constant current device comprises: a second single chip microcomputer, a fourth capacitor, an inductor, a voltage stabilizing diode and a seventh resistor; The first pin of the second single-chip microcomputer is connected to the output end of the second controller to obtain the second control signal, the second pin of the second single-chip microcomputer is connected to the output end of the voltage conversion unit, and the third pin of the second single-chip microcomputer is connected to the ground line; The first end of the seventh resistor is connected to the output end of the voltage conversion unit, and the second end of the seventh resistor is connected to the first end of the brake module; The first end of the inductor is connected to the fourth pin of the second single-chip microcomputer, and the second end of the inductor is connected to the second end of the brake module; The first electrode plate of the fourth capacitor is connected to the second end of the seventh resistor, and the second electrode plate of the fourth capacitor is connected to the second end of the inductor; The anode of the voltage stabilizing diode is connected to the fourth pin of the second single-chip computer, and the cathode of the voltage stabilizing diode is connected to the first end of the seventh resistor.

10. A robotic arm, characterized in that: A driving brake circuit for a robotic arm comprising the driving brake circuit of any one of claims 1 to 9.

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