Motor emergency stop control device and robot

Abstract

The application discloses a motor emergency stop control device and a robot, which comprise a direct-current power supply, an emergency stop triggering device, a motor, a motor driver and a power supply switching circuit. The power supply switching circuit is used for switching the input power supply of the motor from the motor driver to the direct-current power supply when it is detected that the emergency stop triggering device is triggered for emergency stop. It can be seen that after the emergency stop triggering, the input power supply of the motor is immediately switched from the motor driver to the direct-current power supply, so as to cut off the power supply of the motor driver to the motor and to input the direct-current power supply into the motor, thereby forming a static magnetic field inside the motor which hinders the inertial rotation of the rotor, so that the robot is rapidly braked and has high reliability.

Description

Technical Field

[0001] The present invention relates to the field of robot safety, and in particular to a motor emergency stop control device and a robot. Background Art

[0002] With the development of artificial intelligence, service robots are gradually appearing in crowded places such as shopping malls, train station waiting areas, and hospital lobbies, providing guidance, answering questions, and providing business introductions. Currently, for safety reasons, robots are equipped with emergency stop devices. In the event of an emergency, the user can trigger the emergency stop device to quickly stop the robot for protection.

[0003] In the prior art, the power motors of robots can be divided into brake motors and non-brake motors. Given that the cost of non-brake motors is lower than that of brake motors, some robots choose to use non-brake motors for cost considerations. Currently, there are two main emergency stop control methods for non-brake motors: 1) After the emergency stop is triggered, the robot controller sends a stop command to the motor driver. After receiving the stop command, the motor driver controls the motor to stop moving, which can achieve rapid braking. However, the communication link and program decision-making must be carried out between the emergency stop trigger and the implementation of the emergency stop action. If abnormal conditions such as communication data packet loss, program crash, and program delay occur, the emergency stop will fail, resulting in reduced emergency stop reliability. 2) After the emergency stop is triggered, the power supply from the motor driver to the motor is immediately cut off. The power-off emergency stop method is more reliable, but after the power is off, the motor cannot stop immediately due to inertia drive, and the purpose of rapid braking cannot be achieved.

[0004] Therefore, how to provide a solution to the above technical problems is a problem that technicians in this field currently need to solve. Summary of the Invention

[0005] The purpose of the present invention is to provide a motor emergency stop control device and a robot. After the emergency stop is triggered, the present invention immediately switches the input power of the motor from the motor driver to the DC power supply to cut off the power supplied to the motor by the motor driver, and passes the DC power supply into the motor, thereby forming a static magnetic field inside the motor to hinder the inertial rotation of the rotor, so that the robot can brake quickly with high reliability.

[0006] In order to solve the above technical problems, the present invention provides a motor emergency stop control device, comprising:

[0007] DC power supply;

[0008] Emergency stop trigger device;

[0009] Motor;

[0010] a motor driver, configured to drive the motor;

[0011] A power switching circuit is respectively connected to the emergency stop trigger device, the DC power supply, the motor driver and the motor, and is used to switch the input power of the motor from the motor driver to the DC power supply when it is detected that the emergency stop trigger device is triggered.

[0012] Preferably, the first end of the emergency stop trigger device is connected to the first voltage signal, and the second end is connected to the power switching circuit;

[0013] The power switching circuit is specifically used to control the power input end of the motor to be connected to the motor driver when the first voltage signal is received; and to control the power input end of the motor to be connected to the DC power supply when the first voltage signal is not received.

[0014] Preferably, the power switching circuit includes an enable terminal and at least three switches, and the connection terminals of each switch include a movable terminal, a first fixed terminal, and a second fixed terminal; wherein:

[0015] The enable end of the power switching circuit is connected to the second end of the emergency stop trigger device, the three movable ends of the three switching switches are connected one by one to the three-phase power input ends of the motor, the three first fixed ends of the three switching switches are connected one by one to the three-phase drive ends of the motor driver, two second fixed ends of the three switching switches are connected one by one to the positive power terminal and the negative power terminal of the DC power supply, and the other second fixed end is left floating;

[0016] The power switching circuit is specifically used to control the active ends of each internal switching switch to be connected to its own first fixed end when the enable end receives the first voltage signal; when the enable end does not receive the first voltage signal, control the active ends of each internal switching switch to be connected to its own second fixed end.

[0017] Preferably, the motor emergency stop control device further includes:

[0018] The DC control circuit is used to obtain the motor speed and determine whether the motor speed is less than a preset speed threshold. If so, the DC power supply to the motor is cut off; if not, the DC power supply to the motor is maintained.

[0019] Preferably, the DC control circuit includes:

[0020] a first controllable switch provided on a circuit through which the DC power supply supplies power to the motor;

[0021] A switch control circuit connected to the control end of the first controllable switch is used to obtain the motor speed and determine whether the motor speed is less than a preset speed threshold. If not, the first controllable switch is controlled to remain closed; if so, the first controllable switch is controlled to be open.

[0022] Preferably, the switch control circuit includes:

[0023] A speed acquisition circuit for acquiring the speed of the motor;

[0024] A comparison circuit is connected to the output end of the speed acquisition circuit and the control end of the first controllable switch, respectively, and is used to compare the motor speed with a preset speed threshold after receiving the motor speed. If the motor speed is not less than the preset speed threshold, the first controllable switch is controlled to remain closed; otherwise, the first controllable switch is controlled to be opened.

[0025] Preferably, the DC control circuit further includes:

[0026] A second controllable switch is provided on the line for transmitting the motor speed from the speed acquisition circuit to the comparison circuit, and is configured to be in an open state when the emergency stop trigger device is not triggered; and in a closed state when the emergency stop trigger device is triggered.

[0027] Preferably, the speed acquisition circuit is:

[0028] An encoder for generating a PWM wave representing the motor speed according to the motor speed;

[0029] The comparison circuit comprises:

[0030] a level conversion circuit configured to, after receiving the PWM wave transmitted by the encoder, amplify the PWM wave and filter the amplified PWM wave to obtain a stable second voltage signal;

[0031] A comparator having a positive input terminal connected to the output terminal of the level conversion circuit, a negative input terminal connected to a preset reference voltage, and an output terminal connected to the control terminal of the first controllable switch, configured to output a high-level signal to control the first controllable switch to remain closed if the second voltage signal is not less than the preset reference voltage; otherwise, output a low-level signal to control the first controllable switch to be open.

[0032] Preferably, the comparison circuit further includes:

[0033] The filter circuit is connected to the output terminal of the level conversion circuit and the positive input terminal of the comparator respectively, and is used to filter the second voltage signal to input a more stable second voltage signal to the comparator.

[0034] In order to solve the above technical problems, the present invention also provides a robot comprising any one of the above motor emergency stop control devices.

[0035] The present invention provides a motor emergency stop control device, comprising a DC power supply, an emergency stop trigger device, a motor, a motor driver, and a power switching circuit. The power switching circuit is used to switch the input power of the motor from the motor driver to the DC power supply when it is detected that the emergency stop trigger device is triggered to stop. It can be seen that after the emergency stop is triggered, the present application immediately switches the input power of the motor from the motor driver to the DC power supply to cut off the power supplied to the motor by the motor driver, and passes the DC power supply into the motor, thereby forming a static magnetic field inside the motor that hinders the inertial rotation of the rotor, so that the robot can brake quickly with high reliability.

[0036] The present invention also provides a robot having the same beneficial effects as the above-mentioned emergency stop control device. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the prior art and the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0038] Figure 1 A schematic structural diagram of a motor emergency stop control device provided by an embodiment of the present invention;

[0039] Figure 2 A specific schematic diagram of a robot emergency stop control device provided by an embodiment of the present invention;

[0040] Figure 3 A schematic diagram of an emergency stop triggering device for an emergency stop of a robot provided by an embodiment of the present invention;

[0041] Figure 4 A schematic diagram of an emergency stop completion of a robot emergency stop control device provided by an embodiment of the present invention;

[0042] Figure 5 A side view of a service robot provided by an embodiment of the present invention;

[0043] Figure 6 This is a physical front view of a service robot provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0044] The core of the present invention is to provide a motor emergency stop control device and a robot. After the emergency stop is triggered, the present invention immediately switches the input power of the motor from the motor driver to the DC power supply to cut off the power supplied to the motor by the motor driver, and passes the DC power supply into the motor, thereby forming a static magnetic field inside the motor to hinder the inertial rotation of the rotor, so that the robot can brake quickly with high reliability.

[0045] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0046] Please refer to Figure 1 , Figure 1 A schematic structural diagram of a motor emergency stop control device provided by an embodiment of the present invention.

[0047] The motor emergency stop control device (for emergency stop control of non-brake motors) includes:

[0048] DC power supply 1;

[0049] Emergency stop trigger device 2;

[0050] Motor 3;

[0051] A motor driver 4, used for driving the motor 3;

[0052] The power switching circuit 5 is respectively connected to the emergency stop trigger device 2, the DC power supply 1, the motor driver 4 and the motor 3, and is used to switch the input power of the motor 3 from the motor driver 4 to the DC power supply 1 when it is detected that the emergency stop trigger device 2 is triggered.

[0053] Specifically, the motor emergency stop control device of the present application includes a DC power supply 1, an emergency stop trigger device 2, a motor 3, a motor driver 4 and a power switching circuit 5. Its working principle is as follows (the motor emergency stop control device is applied to a robot as an example):

[0054] When the robot is working normally, the robot controller sends a motion instruction to the motor driver 4. The motor driver 4 controls the power supply timing of the motor 3 according to the motion instruction, so that the motor 3 rotates and the robot moves.

[0055] When an emergency occurs in the robot, the emergency stop operation of the robot can be triggered by the emergency stop trigger device 2 installed on the robot. The specific principle of the emergency stop operation is as follows: the power switching circuit 5 detects in real time whether the emergency stop trigger device 2 is triggered. When the power switching circuit 5 detects that the emergency stop trigger device 2 is triggered, the input power of the motor 3 is switched from the motor driver 4 to the DC power supply 1, which is equivalent to performing two operations simultaneously: 1) cutting off the power supplied by the motor driver 4 to the motor 3, which is a more reliable power-off emergency stop method; and 2) passing the DC power supply 1 into the motor 3. This is because after the power is cut off, the motor 3 cannot stop immediately due to inertia drive and cannot achieve the purpose of rapid braking. After the DC power supply 1 is passed into the motor 3, a static magnetic field is formed inside the motor 3 to hinder the inertial rotation of the rotor, thereby enabling the robot to achieve rapid braking.

[0056] In summary, after the emergency stop is triggered, the present application immediately switches the input power of the motor from the motor driver to the DC power supply to cut off the power supplied to the motor by the motor driver, and passes the DC power supply into the motor, thereby forming a static magnetic field inside the motor to hinder the inertial rotation of the rotor, so that the robot can brake quickly with high reliability.

[0057] Based on the above embodiment:

[0058] Please refer to Figure 2 、 Figure 3 and Figure 4 , Figure 2 A specific schematic diagram of a robot emergency stop control device provided by an embodiment of the present invention; Figure 3 A schematic diagram of an emergency stop triggering device for an emergency stop of a robot provided by an embodiment of the present invention; Figure 4 A schematic diagram of an emergency stop completion of a robot emergency stop control device provided by an embodiment of the present invention.

[0059] As an optional embodiment, the first end of the emergency stop trigger device 2 is connected to the first voltage signal V1, and the second end is connected to the power switching circuit 5;

[0060] The power switching circuit 5 is specifically used to control the power input end of the motor 3 to be connected to the motor driver 4 when receiving the first voltage signal; and to control the power input end of the motor 3 to be connected to the DC power supply 1 when not receiving the first voltage signal.

[0061] Specifically, the emergency stop trigger device 2 of the present application can use an emergency stop button Stop in a normally closed state, and the emergency stop button Stop switches from the normally closed state to the open state when triggered. Its working principle is as follows:

[0062] The emergency stop button Stop is in a normally closed state, that is, when the emergency stop button Stop is not triggered, the emergency stop button Stop is in a closed state, such as Figure 2When the emergency stop button Stop is triggered, it will switch from the normally closed state to the open state, as shown in Figure 3 shown.

[0063] When the emergency stop button Stop is in the closed state, the first voltage signal V1 can be transmitted to the power switching circuit 5 via the switch circuit within the emergency stop button Stop. When the emergency stop button Stop is in the open state, the first voltage signal V1 cannot be transmitted to the power switching circuit 5 via the switch circuit within the emergency stop button Stop. In other words, when the emergency stop button Stop is not triggered, the power switching circuit 5 can receive the first voltage signal V1; when the emergency stop button Stop is triggered, the power switching circuit 5 cannot receive the first voltage signal V1.

[0064] Based on this, the specific principle of the power switching circuit 5 is: when the power switching circuit 5 receives the first voltage signal V1, the power switching circuit 5 controls the power input end of the motor 3 to be connected to the motor driver 4, so that the motor driver 4 supplies power to the motor 3, so that the robot is in a normal working state when the emergency stop is not triggered; when the power switching circuit 5 does not receive the first voltage signal V1, the power input end of the motor 3 is controlled to be connected to the DC power supply 1, so as to cut off the power supplied to the motor 3 by the motor driver 4, and pass DC power into the motor 3, so that the robot can brake quickly and reliably when the emergency stop is triggered.

[0065] As an optional embodiment, the power switching circuit 5 includes an enable terminal and at least three switches, and the connection terminals of each switch include a movable terminal, a first fixed terminal, and a second fixed terminal; wherein:

[0066] The enable terminal of the power switching circuit 5 is connected to the second terminal of the emergency stop trigger device 2, the three movable terminals of the three switching switches are connected one by one to the three-phase power input terminals of the motor 3, the three first fixed terminals of the three switching switches are connected one by one to the three-phase drive terminals of the motor driver 4, two second fixed terminals of the three switching switches are connected one by one to the positive power terminal and the negative power terminal of the DC power supply 1, and the other second fixed terminal is left floating;

[0067] The power switching circuit 5 is specifically used to control the active ends of each internal switching switch to be connected to its own first fixed end when the enable end receives the first voltage signal V1; when the enable end does not receive the first voltage signal V1, control the active ends of each internal switching switch to be connected to its own second fixed end.

[0068] Specifically, the power switching circuit 5 of the present application includes an enable terminal and at least three switches. The connection terminals of each switch in the power switching circuit 5 include a movable terminal, a first fixed terminal, and a second fixed terminal. The present application uses the first switch S1, the second switch S2, and the third switch S3 as examples to illustrate the working principle:

[0069] The moving end of the first switching switch S1 is connected to the U-phase power input terminal of the motor 3, the first fixed end of the first switching switch S1 is connected to the U-phase drive terminal of the motor driver 4, and the second fixed end of the first switching switch S1 is connected to the positive power terminal of the DC power supply 1; the moving end of the second switching switch S2 is connected to the V-phase power input terminal of the motor 3, the first fixed end of the second switching switch S2 is connected to the V-phase drive terminal of the motor driver 4, and the second fixed end of the second switching switch S2 is connected to the negative power terminal of the DC power supply 1; the moving end of the third switching switch S3 is connected to the W-phase power input terminal of the motor 3, the first fixed end of the third switching switch S3 is connected to the W-phase drive terminal of the motor driver 4, and the second fixed end of the third switching switch S3 is suspended and not connected to an external circuit.

[0070] When the power switching circuit 5 receives the first voltage signal V1 at its own enable terminal EN, it controls the active terminals of the internal switches to be connected to their respective first fixed terminals one by one. Figure 2 As shown, specifically, the moving end of the first switching switch S1 is connected to the first fixed end of the first switching switch S1, the moving end of the second switching switch S2 is connected to the first fixed end of the second switching switch S2, and the moving end of the third switching switch S3 is connected to the first fixed end of the third switching switch S3, so as to control the power input end of the motor 3 to be connected to the motor driver 4.

[0071] When the enable terminal EN of the power switching circuit 5 does not receive the first voltage signal V1, the power switching circuit 5 controls the active terminals of the internal switches to be connected to the respective second fixed terminals one by one. Figure 3 As shown, specifically, the moving end of the first switching switch S1 is connected to the second fixed end of the first switching switch S1, the moving end of the second switching switch S2 is connected to the second fixed end of the second switching switch S2, and the moving end of the third switching switch S3 is connected to the second fixed end of the third switching switch S3, so as to control the power input end of the motor 3 to be connected to the DC power supply 1.

[0072] It should be noted that the positive terminal and the negative terminal of the DC power supply 1 can be connected to any two second fixed terminals of the three switches one by one, and the connection is not limited to the above.

[0073] As an optional embodiment, the motor emergency stop control device further includes:

[0074] The DC control circuit is used to obtain the motor speed and determine whether the motor speed is less than a preset speed threshold. If so, the DC power supply 1 is cut off to supply power to the motor 3; if not, the DC power supply 1 is kept on to supply power to the motor 3.

[0075] Furthermore, the motor emergency stop control device of the present application also includes a DC control circuit, the working principle of which is as follows:

[0076] After the emergency stop of the device is triggered, the motor speed drops rapidly due to the static magnetic field formed inside the motor 3. When the motor speed is less than the preset speed threshold (a very small speed value), it is considered that the motor 3 is about to stop rotating. From then on, the DC power supply 1 no longer needs to power the motor 3. Therefore, the DC control circuit of the present application obtains the motor speed in real time and determines whether the motor speed is less than the preset speed threshold. If it is not less than the preset speed threshold, the DC power supply 1 is kept supplying power to the motor 3; if it is less than the preset speed threshold, the DC power supply 1 is cut off from supplying power to the motor 3, thereby saving energy.

[0077] As an optional embodiment, the DC control circuit includes:

[0078] A first controllable switch Q1 provided on a circuit through which the DC power supply 1 supplies power to the motor 3;

[0079] The switch control circuit connected to the control end of the first controllable switch Q1 is used to obtain the motor speed and determine whether the motor speed is less than a preset speed threshold. If not, the first controllable switch Q1 is controlled to remain closed; if so, the first controllable switch Q1 is controlled to be disconnected.

[0080] Specifically, the DC control circuit of the present application includes a first controllable switch Q1 and a switch control circuit, and its working principle is as follows:

[0081] After obtaining the motor speed, the switch control circuit compares the motor speed with the preset speed threshold to determine whether the motor speed is less than the preset speed threshold. If the motor speed is not less than the preset speed threshold, the first controllable switch Q1 is controlled to remain closed to keep the DC power supply 1 supplying power to the motor 3. Figure 3 If the motor speed is less than the preset speed threshold, the first controllable switch Q1 is controlled to be disconnected to cut off the DC power supply 1 for the motor 3, as shown Figure 4 shown.

[0082] It should be noted that the first controllable switch Q1 is in a normally closed state, that is, when the switch control circuit does not play a controlling role, the first controllable switch Q1 is in a closed state.

[0083] As an optional embodiment, the switch control circuit includes:

[0084] A speed acquisition circuit for acquiring the speed of the motor;

[0085] A comparison circuit is connected to the output end of the speed acquisition circuit and the control end of the first controllable switch Q1, respectively, and is used to compare the motor speed with a preset speed threshold after receiving the motor speed. If the motor speed is not less than the preset speed threshold, the first controllable switch Q1 is controlled to remain closed; otherwise, the first controllable switch Q1 is controlled to be open.

[0086] Specifically, the switch control circuit of the present application includes a speed acquisition circuit and a comparison circuit, and its working principle is as follows:

[0087] The speed acquisition circuit acquires the motor speed in real time and transmits the acquired motor speed to the comparison circuit. After receiving the motor speed, the comparison circuit compares the motor speed with the preset speed threshold. If the motor speed is not less than the preset speed threshold, the first controllable switch Q1 is controlled to remain closed to keep the DC power supply 1 supplying power to the motor 3. Figure 3 If the motor speed is less than the preset speed threshold, the first controllable switch Q1 is controlled to be disconnected to cut off the DC power supply 1 for the motor 3, as shown Figure 4 shown.

[0088] As an optional embodiment, the DC control circuit further includes:

[0089] The second controllable switch Q2 provided on the line for transmitting the motor speed from the speed acquisition circuit to the comparison circuit is configured to be in an open state when the emergency stop trigger device 2 is not triggered; and in a closed state when the emergency stop trigger device 2 is triggered.

[0090] Furthermore, the DC control circuit of the present application further includes a second controllable switch Q2, whose operating principle is as follows:

[0091] When the second controllable switch Q2 is closed, the motor speed collected by the speed collection circuit can be transmitted to the comparison circuit. When the second controllable switch Q2 is open, the motor speed collected by the speed collection circuit cannot be transmitted to the comparison circuit. However, the second controllable switch Q2 is open when the emergency stop trigger device 2 is not triggered and closed when the emergency stop trigger device 2 is triggered. Therefore, the motor speed collected by the speed collection circuit can only be transmitted to the comparison circuit when the emergency stop trigger device 2 is triggered.

[0092] In addition, the second controllable switch Q2 can be specifically disconnected when a high level is input to its control terminal and closed when a low level is input. In the embodiment where the emergency stop trigger device 2 uses the emergency stop button Stop, the control terminal of the second controllable switch Q2 can be connected to the second terminal of the emergency stop button Stop (e.g. Figure 2 As shown), its working principle is: when the emergency stop button Stop is not triggered and closed, the control end input of the second controllable switch Q2 is high-level and disconnected; when the emergency stop button Stop is triggered and disconnected, the control end input of the second controllable switch Q2 is low-level and closed, so that the loop where the comparison circuit is located will only work when the emergency stop is triggered.

[0093] As an optional embodiment, the speed acquisition circuit is:

[0094] An encoder 100 for generating a PWM wave representing the motor speed according to the motor speed;

[0095] The comparison circuit includes:

[0096] The level conversion circuit 200 is used to, after receiving the PWM wave transmitted from the encoder 100, amplify the PWM wave and filter the amplified PWM wave to obtain a stable second voltage signal V2;

[0097] The comparator 300 has a positive input terminal connected to the output terminal of the level conversion circuit 200, a negative input terminal connected to a preset reference voltage V3, and an output terminal connected to the control terminal of the first controllable switch Q1. The comparator 300 is configured to output a high-level signal to control the first controllable switch Q1 to remain closed if the second voltage signal V2 is not less than the preset reference voltage V3; otherwise, the comparator 300 outputs a low-level signal to control the first controllable switch Q1 to be open.

[0098] Specifically, the speed acquisition circuit of the present application may use an encoder 100 , which may generate a PWM (Pulse Width Modulation) wave representing the motor speed according to the motor speed, so that the back-end circuit can implement speed comparison based on the PWM wave.

[0099] It's important to note that robots typically have encoders connected to the motor and motor driver. Based on the motor's speed and direction, the encoder outputs two phase-shifted PWM waves (each PWM wave represents the motor's speed, and the phase difference between the two PWM waves represents the motor's direction) to the motor driver. The motor driver interprets the two phase-shifted PWM waves to precisely control the motor's speed and direction. Therefore, the robot's speed acquisition circuit can be directly implemented using the existing encoder.

[0100] Accordingly, the comparison circuit of the present application includes a level conversion circuit 200 and a comparator 300, and its working principle is as follows:

[0101] When the second controllable switch Q2 is closed, the PWM wave output by the encoder 100 can be transmitted to the level conversion circuit 200; when the second controllable switch Q2 is disconnected, the PWM wave output by the encoder 100 cannot be transmitted to the level conversion circuit 200. After receiving the PWM wave transmitted by the encoder 100, the level conversion circuit 200 first amplifies the voltage of the PWM wave and then filters the PWM wave in order to obtain a stable second voltage signal V2. It can be understood that the second voltage signal V2 is used to represent the motor speed at this time. In addition, the present application sets a reference voltage V3 to represent the speed threshold, thereby achieving speed comparison by comparing the second voltage signal V2 with the reference voltage V3.

[0102] Based on this, the comparator 300 compares the second voltage signal V2 with the reference voltage V3. If the second voltage signal V2 is not less than the reference voltage V3, a high-level signal is output to control the first controllable switch Q1 to remain closed, thereby maintaining the DC power supply 1 to supply power to the motor 3 when the motor speed is not less than the preset speed threshold; if the second voltage signal V2 is less than the reference voltage V3, a low-level signal is output to control the first controllable switch Q1 to be disconnected, thereby cutting off the DC power supply 1 to supply power to the motor 3 when the motor speed is less than the preset speed threshold.

[0103] It should be noted that when the emergency stop is triggered, the motor 3 may be in motion or in a stationary state. If the motor 3 is in motion, the switching switch S1 / S2 / S3 in the power switching circuit 5 is switched to the two poles and NC end of the DC power supply 1, and a static magnetic field is formed inside the motor 3 to hinder the rotation of the motor rotor due to inertia. The braking is completed, the motor 3 stops rotating, the second voltage signal V2 is less than the reference voltage V3, the comparator 300 outputs a low level to control the first controllable switch Q1 to disconnect, and the motor U1 / V1 / W1 is in a disconnected state; if the motor 3 is in a stationary state, the switching switch S1 / S2 / S3 in the power switching circuit 5 is switched to the two poles and NC end of the DC power supply 1. At this time, the second voltage signal V2 is less than the reference voltage V3, the first controllable switch Q1 is disconnected, and the motor U1 / V1 / W1 is in a disconnected state.

[0104] As an optional embodiment, the comparison circuit further includes:

[0105] The filter circuit connected to the output terminal of the level conversion circuit 200 and the positive input terminal of the comparator 300 respectively is used to filter the second voltage signal V2 to input a more stable second voltage signal V2 to the comparator 300 .

[0106] Furthermore, the comparison circuit of the present application also includes a filter circuit (such as Figure 2 The filter circuit can further filter the second voltage signal V2 output by the level conversion circuit 200 to obtain a more stable second voltage signal V2 to be supplied to the comparator 300.

[0107] As an optional embodiment, the motor emergency stop control device further includes:

[0108] The current limiting protection circuit 6 is used to obtain the supply current provided by the DC power supply 1 to the motor 3, and cut off the power supply of the DC power supply 1 to the motor 3 when the supply current is greater than a preset overcurrent threshold.

[0109] Furthermore, the motor emergency stop control device of the present application further includes a current limiting protection circuit 6, which is provided on the circuit through which the DC power supply 1 supplies power to the motor 3. The working principle of the current limiting protection circuit 6 is as follows:

[0110] The current limiting protection circuit 6 obtains the supply current provided by the DC power supply 1 to the motor 3, and then compares the supply current of the DC power supply 1 with a preset overcurrent threshold. If the supply current of the DC power supply 1 is greater than the preset overcurrent threshold, it indicates that there is an overcurrent risk in the supply current of the DC power supply 1. In this case, the circuit 6 cuts off the power supply line of the DC power supply 1 to the motor 3, that is, cuts off the power supply of the DC power supply 1 to the motor 3, thereby playing an overcurrent protection role and preventing damage to the motor 3.

[0111] In addition, the motor emergency stop control device of the present application can be applied to Figure 5 、 6 The service robot shown is equipped with a speaker, a microphone, and a display screen, enabling voice and display interaction. The robot also has a navigation system that provides positioning and mapping services, enabling autonomous movement. In an emergency, the robot's emergency stop button can be triggered to quickly stop the robot. Of course, the motor emergency stop control device of this application can be applied to any device containing a motor, not just robots, and this application does not impose any particular limitation thereto.

[0112] The present application also provides a robot comprising any of the above-mentioned motor emergency stop control devices.

[0113] For an introduction to the robot provided in this application, please refer to the above-mentioned embodiment of the motor emergency stop control device, and this application will not go into details here.

[0114] It should also be noted that, in this specification, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

[0115] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A motor emergency stop control device, characterized in that: include: DC power supply; Emergency stop trigger device; Motor; a motor driver, configured to drive the motor; a power switching circuit, connected to the emergency stop trigger device, the DC power supply, the motor driver, and the motor, respectively, for switching the input power of the motor from the motor driver to the DC power supply when detecting that the emergency stop trigger device is triggered; The first end of the emergency stop trigger device is connected to the first voltage signal, and the second end is connected to the power switching circuit; The power switching circuit is specifically configured to control the power input end of the motor to be connected to the motor driver when the first voltage signal is received; and control the power input end of the motor to be connected to the DC power supply when the first voltage signal is not received; The power switching circuit includes an enable terminal and at least three switches, and the connection terminals of each switch include a movable terminal, a first fixed terminal, and a second fixed terminal; wherein: The enable end of the power switching circuit is connected to the second end of the emergency stop trigger device, the three movable ends of the three switching switches are connected one by one to the three-phase power input ends of the motor, the three first fixed ends of the three switching switches are connected one by one to the three-phase drive ends of the motor driver, two second fixed ends of the three switching switches are connected one by one to the positive power terminal and the negative power terminal of the DC power supply, and the other second fixed end is left floating; The power switching circuit is specifically configured to control the connection of the moving ends of each internal switching switch to its own first fixed end when the enable end receives the first voltage signal; and to control the connection of the moving ends of each internal switching switch to its own second fixed end when the enable end does not receive the first voltage signal, so that after a constant DC voltage is applied to the motor through the DC power supply, a static magnetic field is formed inside the motor to hinder the inertial rotation of the rotor.

2. The motor emergency stop control device according to claim 1, characterized in that: The motor emergency stop control device also includes: The DC control circuit is used to obtain the motor speed and determine whether the motor speed is less than a preset speed threshold. If so, the DC power supply to the motor is cut off; if not, the DC power supply to the motor is maintained.

3. The motor emergency stop control device according to claim 2, characterized in that: The DC control circuit comprises: a first controllable switch provided on a circuit through which the DC power supply supplies power to the motor; A switch control circuit connected to the control end of the first controllable switch is used to obtain the motor speed and determine whether the motor speed is less than a preset speed threshold. If not, the first controllable switch is controlled to remain closed; if so, the first controllable switch is controlled to be open.

4. The motor emergency stop control device according to claim 3, characterized in that: The switch control circuit includes: A speed acquisition circuit for acquiring the speed of the motor; A comparison circuit is connected to the output end of the speed acquisition circuit and the control end of the first controllable switch, respectively, and is used to compare the motor speed with a preset speed threshold after receiving the motor speed. If the motor speed is not less than the preset speed threshold, the first controllable switch is controlled to remain closed; otherwise, the first controllable switch is controlled to be opened.

5. The motor emergency stop control device according to claim 4, characterized in that: The DC control circuit further includes: A second controllable switch is provided on the line for transmitting the motor speed from the speed acquisition circuit to the comparison circuit, and is configured to be in an open state when the emergency stop trigger device is not triggered; and in a closed state when the emergency stop trigger device is triggered.

6. The motor emergency stop control device according to claim 4, characterized in that: The speed acquisition circuit is: An encoder for generating a PWM wave representing the motor speed according to the motor speed; The comparison circuit comprises: a level conversion circuit configured to, after receiving the PWM wave transmitted by the encoder, amplify the PWM wave and filter the amplified PWM wave to obtain a stable second voltage signal; A comparator having a positive input terminal connected to the output terminal of the level conversion circuit, a negative input terminal connected to a preset reference voltage, and an output terminal connected to the control terminal of the first controllable switch, configured to output a high-level signal to control the first controllable switch to remain closed if the second voltage signal is not less than the preset reference voltage; otherwise, output a low-level signal to control the first controllable switch to be open.

7. The motor emergency stop control device according to claim 6, characterized in that: The comparison circuit further includes: The filter circuit is connected to the output terminal of the level conversion circuit and the positive input terminal of the comparator respectively, and is used to filter the second voltage signal to input a more stable second voltage signal to the comparator.

8. A robot, characterized in that: The invention comprises the motor emergency stop control device as described in any one of claims 1 to 7.

Images