Motor brake control system self-test circuit, self-test method and motor brake system

Abstract

The present invention discloses a self-test circuit, a self-test method and a motor brake system of a motor brake control system, wherein the self-test circuit of the motor brake control system includes a self-test circuit, a first input end of the self-test circuit is used to be electrically connected to the control end of the brake control circuit, a second input end of the self-test circuit is used to be electrically connected to the output end of the brake coil, the output end of the self-test circuit is electrically connected to the processing unit, the self-test circuit is used to detect the detection signal generated by the brake control circuit and output a corresponding feedback signal; a processing unit, the processing unit is electrically connected to the controlled end of the brake control circuit, the processing unit is used to send a self-test signal to the brake control circuit via the controlled end, and to determine whether the function of the brake control circuit is normal based on the received feedback signal; the technical solution of the present invention aims to improve the reliability of the brake control circuit.

Description

Technical Field

[0001] The present invention relates to the technical field of motor brake control, and in particular to a motor brake control system self-test circuit, a self-test method and a motor brake system. Background Art

[0002] Existing industrial robots need to brake the motor to achieve a hard emergency stop when encountering emergencies such as working failures and power outages. Therefore, corresponding brake control circuits are set according to the type of motor. If an abnormality occurs in the brake control circuit during operation (such as the brake opening or closing failure), the motor may be enabled to run when the brake is not opened, causing damage to the brake. There is even the possibility of dangerous situations such as the arm falling when the robot is powered on or off. Summary of the Invention

[0003] The main purpose of the present invention is to provide a motor brake control system self-test circuit, a self-test method and a motor brake system, aiming to improve the reliability of the brake control circuit.

[0004] To achieve the above-mentioned object, the present invention proposes a motor brake control system self-test circuit, which is applied to a motor brake control system. The motor brake control system includes a brake control circuit and a brake coil connected in series. The motor brake control system self-test circuit includes:

[0005] a self-test circuit, wherein a first input end of the self-test circuit is electrically connected to a control end of the brake control circuit, a second input end of the self-test circuit is electrically connected to an output end of the brake coil, and the self-test circuit is configured to detect a detection signal generated by the brake control circuit and output a corresponding feedback signal;

[0006] A processing unit, wherein the processing unit is electrically connected to the controlled end of the brake control circuit and the output end of the self-test circuit, respectively, and the processing unit is used to send a self-test signal to the brake control circuit via the controlled end, and to determine whether the function of the brake control circuit is normal based on the received feedback signal.

[0007] Optionally, the self-test circuit includes:

[0008] a functional self-test circuit, wherein the input end of the functional self-test circuit is the first input end of the self-test circuit, the output end of the functional self-test circuit is electrically connected to the processing unit, and the functional self-test circuit is used to detect the electrical signal of the control end of the brake control circuit after power-on, and output a corresponding short-circuit feedback signal according to the detected electrical signal;

[0009] The processing unit is further configured to determine whether the control terminal of the brake control circuit is short-circuited to the ground based on the received short-circuit feedback signal.

[0010] Optionally, the processing unit is further configured to send a detection pulse of a preset width to the controlled end of the brake control circuit when it is determined that the control end of the brake control circuit is not short-circuited;

[0011] The functional self-test circuit is further used to detect the feedback pulse outputted by the output terminal of the brake control circuit, and output a functional feedback signal with the same pulse width according to the feedback pulse;

[0012] The processing unit is further configured to determine that the brake control circuit has a functional abnormality and output functional alarm information when the pulse width of the functional feedback signal is not equal to the preset width.

[0013] Optionally, the self-test circuit further includes:

[0014] a circuit breaker detection circuit, wherein the input end of the circuit breaker detection circuit is the second input end of the self-test circuit, and the output end of the circuit breaker detection circuit is electrically connected to the processing unit;

[0015] The processing unit is further configured to, after determining that the brake control circuit functions normally, output a power enable signal to the enable terminal of the brake control circuit to control the brake control circuit to output the connected DC power to the brake coil;

[0016] The circuit breaker detection circuit is used to detect the electrical signal at the output end of the brake coil and output a corresponding circuit breaker feedback signal according to the detected electrical signal;

[0017] The processing unit is further configured to determine whether a connection between the brake control circuit and the brake coil is broken according to the received broken circuit feedback signal.

[0018] Optionally, the disconnection detection circuit includes a first optocoupler, a first capacitor, a second capacitor, a third capacitor, a first resistor, a second resistor and a third resistor;

[0019] The first input end of the first optocoupler is the input end of the circuit break detection circuit and is connected to the first end of the first capacitor. The second input end of the first optocoupler is respectively connected to the second end of the first capacitor and the first end of the second resistor. The first output end of the first optocoupler is respectively connected to the first end of the second resistor and the first end of the third resistor; the second end of the second resistor is used to access a DC power supply and is connected to the first end of the third capacitor; the second end of the third resistor is the output end of the circuit break detection circuit and is connected to the first end of the second capacitor; the second output end of the first optocoupler, the second end of the first resistor, the second end of the second capacitor, and the second end of the third capacitor are respectively grounded.

[0020] Optionally, the functional self-test circuit includes a second optocoupler, a fourth capacitor, a fifth capacitor, a sixth capacitor, a fourth resistor, a fifth resistor and a sixth resistor;

[0021] The first input end of the second optocoupler is respectively connected to the first end of the fourth capacitor and the first end of the fourth resistor, the second input end of the second optocoupler is the input end of the functional self-test circuit, and is connected to the second end of the fourth capacitor, the first output end of the second optocoupler is respectively connected to the first end of the fifth resistor and the first end of the sixth resistor; the second end of the fifth resistor is used to access a DC power supply and is connected to the first end of the sixth capacitor; the second end of the sixth resistor is the output end of the functional self-test circuit and is connected to the first end of the fifth capacitor; the second output end of the second optocoupler, the second end of the fourth resistor, the second end of the fifth capacitor, and the second end of the sixth capacitor are respectively grounded.

[0022] The present invention further provides a self-test method, which is applied to a motor brake control system. The motor brake control system includes a brake control circuit and a brake coil connected in series. The self-test method includes:

[0023] Detecting the electrical signal of the control end of the brake control circuit and outputting a corresponding feedback signal;

[0024] A self-test signal is sent to the brake control circuit, and whether the function of the brake control circuit is normal is determined according to a feedback signal output by the brake control circuit.

[0025] Optionally, the self-test method specifically includes:

[0026] detecting an electrical signal from a control terminal of the brake control circuit after power is supplied;

[0027] When it is determined based on the detected electrical signal that the output end of the brake control circuit is not short-circuited, sending a detection pulse of a preset width to the controlled end of the brake control circuit;

[0028] When it is detected that the pulse width of the feedback pulse output by the brake control circuit is equal to the preset width, it is determined that the function of the brake control circuit is normal, and a power enable signal is output to the brake control circuit to control the brake control circuit to output the connected DC power to the brake coil, and detect the electrical signal at the output end of the brake coil;

[0029] Whether a connection between the brake control circuit and the brake coil is broken is determined according to an electrical signal at an output end of the brake coil.

[0030] The present invention further provides a motor brake system, the motor brake system comprising the motor brake control system self-test circuit, brake control circuit and brake coil according to claims 1-6;

[0031] The first output end and the second output end of the motor brake control system self-test circuit are respectively connected to the controlled end and the enable end of the brake control circuit in a one-to-one correspondence; the first input end of the motor brake control system self-test circuit is connected to the output end of the brake coil; the second input end of the motor brake control system self-test circuit is connected to the control end of the brake control circuit; the brake coil is connected in series between the positive phase output end and the negative phase output end of the brake control circuit.

[0032] Optionally, the brake control circuit includes:

[0033] A power supply circuit, wherein the power supply end of the power supply circuit is used to access a DC power supply, the input end of the power supply circuit is the enable end of the brake control circuit, and the power supply circuit is used to output the connected DC power supply when the power enable signal output by the self-test circuit of the motor brake control system is accessed;

[0034] An isolation circuit, wherein the power supply end of the isolation circuit is used to connect to a low-voltage DC power supply, the input end of the isolation circuit is the controlled end of the control circuit, and the isolation circuit is used to electrically isolate and output the received detection pulse, release control signal, or brake control signal;

[0035] A drive circuit, wherein the drive circuit is electrically connected to the power supply circuit, the isolation circuit and the brake coil respectively, and the drive circuit is used to drive the brake coil to release the brake when a release control signal and a power enable signal are received, or to drive the brake coil to engage the brake when no release control signal and / or power enable signal are received.

[0036] Optionally, the isolation circuit includes:

[0037] A high-speed isolation driver, wherein the power supply end of the high-speed isolation driver is used to connect to a low-voltage DC power supply, the input end of the high-speed isolation driver is the input end of the isolation circuit, and the high-speed isolation driver is used to electrically isolate the connected detection pulse, release control signal or brake control signal and then output it to the drive circuit.

[0038] Optionally, the driving circuit includes a first MOS transistor, a first transient diode, a second transient diode, a first diode, a second diode, a seventh capacitor, an eighth capacitor, a seventh resistor, an eighth resistor and a ninth resistor;

[0039] The first end of the seventh resistor is an input end of the drive circuit and is respectively connected to the first end of the seventh capacitor and the anode of the second transient state diode. The second end of the seventh resistor is connected to the cathode of the first transient state diode. The first end of the eighth resistor is an input end of the drive circuit, and the second end of the eighth resistor is respectively connected to the first end of the ninth resistor and the gate of the first MOS transistor. The drain of the first MOS transistor is respectively connected to the anode of the first diode and the cathode of the second diode. The cathode of the first diode is connected to the cathode of the second transient state diode. The anode of the second diode is a negative output end of the drive circuit, and the anode of the second transient state diode is a positive output end of the drive circuit. The anode of the first transient state diode, the second end of the seventh capacitor, the source of the first MOS transistor, and the ninth resistor are respectively grounded.

[0040] Optionally, the motor brake control circuit includes:

[0041] The clamping voltage Vc of the second transient diode satisfies Vds>24+Vc, and the power Pmax of the second transient diode satisfies Pmax>(7-10)*Vc*Ipp;

[0042] Among them, the Vds is the withstand voltage value of the first MOS tube, and the Ipp is the maintenance current value of the motor.

[0043] The technical solution of the present invention connects the self-test circuit to the control end of the brake control circuit and the output end of the brake coil, respectively, to detect the electrical signals at the control end of the brake control circuit or the output end of the brake coil when the brake control circuit receives different detection signals, and outputs corresponding feedback signals to the processing unit based on the received electrical signals. The processing unit then determines whether there is an abnormality in the brake control circuit based on the received feedback signals. If any function is detected to be abnormal, an alarm message for the corresponding function is output. If all functions are tested and no abnormality is found, the motor is controlled to enable operation. This prevents the motor from being unable to brake due to an abnormality in the brake control circuit after the robot is enabled to operate, causing the robot to drop its arm, or the brake motor from being in the brake state while the robot is enabled to operate, thereby damaging the brake motor. This reduces the risk of the gravity shaft hitting industrial products, causing fires and explosions, and also reduces the safety risks of on-site operators. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 the structures shown in these drawings without paying any creative work.

[0045] Figure 1 This is a flow chart of an embodiment of a self-test circuit for a motor brake control system according to the present invention;

[0046] Figure 2 This is a flow chart of another embodiment of the self-test circuit of the motor brake control system of the present invention;

[0047] Figure 3 This is a circuit diagram of an embodiment of a circuit breaker detection circuit of a self-test circuit of a motor brake control system of the present invention;

[0048] Figure 4 This is a circuit structure diagram of an embodiment of a functional self-test circuit of a motor brake control system according to the present invention;

[0049] Figure 5 A circuit diagram of an embodiment of a brake control circuit of a motor brake system according to the present invention;

[0050] Figure 6 This is a flowchart of an embodiment of a self-test method of the present invention;

[0051] Figure 7 This is a flowchart of another embodiment of the self-test method of the present invention.

[0052] Description of Figure Numbers:

[0053]

[0054] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0055] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0056] In addition, in the present invention, descriptions such as "first" and "second" are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0057] The present invention provides a motor brake control system self-test circuit, which is applied to the motor brake control system.

[0058] Currently, when an industrial robot is not powered on or its motor is not enabled, it must use a motor brake to maintain its current state. Otherwise, the robot may experience arm drop due to the influence of gravity. When the robot encounters a fault and stops, the motor brake also needs to be applied to achieve a hard emergency stop. Therefore, a corresponding brake control circuit 200 is required for the robot based on the motor type. Currently, the typical brake control circuit 200 controls the motor's braking and release by driving a MOS transistor on or off via an isolated optocoupler. This circuit lacks fault diagnosis of the hardware circuit and brake wiring before power is applied. If an abnormality occurs in the brake control circuit 200 during robot operation (e.g., the brake fails to open or close), the robot may be enabled to operate while the brake is not open, resulting in brake damage. Furthermore, the robot may even experience arm drop due to brake failure when the robot is powered on or off. In certain industrial sites, such as the lithium battery industry, if the gravity shaft hits the battery, it can easily cause fires and explosions.

[0059] To solve the above problems, refer to Figure 1 In one embodiment, the motor brake control system includes a brake control circuit 200 and a brake coil 300 connected in series, and the motor brake control system self-test circuit includes:

[0060] a self-test circuit 110, wherein a first input terminal of the self-test circuit 110 is electrically connected to a control terminal of the brake control circuit 200, and a second input terminal of the self-test circuit 110 is electrically connected to an output terminal of the brake coil 300. The self-test circuit 110 is configured to detect a detection signal generated by the brake control circuit 200 and / or the brake coil 300 and output a corresponding feedback signal;

[0061] The processing unit 120 is electrically connected to the controlled end of the brake control circuit 200 and the output end of the self-test circuit 110, respectively. The processing unit 120 is used to send a self-test signal to the brake control circuit 200 via the controlled end, and to determine whether the function of the brake control circuit 200 is normal based on the received feedback signal.

[0062] In this embodiment, the detection signal generated by the brake control circuit 200 may include an electrical signal output from the control end of the brake control circuit 200 after power-on, and may also include an electrical signal output from the output end of the brake coil 300; the self-test circuit 110 may include multiple optocouplers or other electrical isolation devices; the self-test circuit 110 may perform self-test on the brake control circuit 200 of the robot before enabling the action after the robot is powered on. In other embodiments, the brake control circuit 200 may also be self-tested during the operation of the robot.

[0063] It is understandable that when the brake control circuit 200 drives the brake motor to brake, the circuit between the brake coil 300 and the ground needs to be disconnected. If the control end is short-circuited to the ground, so that the brake coil 300 and the ground are connected, the brake coil 300 will be released immediately after the power is connected, or the braking cannot be completed when the robot is enabled, causing the robot to drop its arm. When the brake control circuit 200 drives the brake motor to release the brake, it needs to provide power to the brake coil 300 and form a current loop between the brake coil 300 and the ground. Therefore, if the connection between the brake coil 300 and the ground is disconnected, the brake coil 300 cannot form a current loop; the signal transmission function of the brake control circuit 200 is abnormal, so that the processing unit 120 cannot accurately adjust the voltage across the brake coil 300; or there is a short circuit between the power supply end and the positive phase output end of the brake control circuit 200, or between the positive phase output end of the brake control circuit 200 and the brake coil 300, so that the brake coil 300 cannot be connected to the DC power supply, which will cause the brake control circuit 200 to be unable to release the brake, so that the brake motor is in a brake state when the robot is enabled to run, and then the brake motor is damaged.

[0064] Therefore, before the robot is powered on and enabled for operation, it is necessary to perform a self-test on the brake control circuit 200. The processing unit 120 outputs detection signals of different functions to the brake control circuit 200, so that the self-test circuit 110 can output corresponding feedback signals to the processing unit 120 based on the detected electrical signals output from the control terminal, output terminal, or other ports of the brake control circuit 200. The processing unit 120 determines whether the brake control circuit 200 is abnormal based on the feedback signals. If any function of the brake control circuit 200 is detected to be abnormal, an alarm message for the corresponding function is output, such as displaying the corresponding alarm message on a display screen or driving a buzzer to sound, to alert the staff. If all functions are detected to be normal, the motor is controlled to enable operation. This prevents the motor from being unable to brake due to an abnormality in the brake control circuit 200 after the robot is enabled for operation, causing the robot to lose its arm, or the brake motor from being in the brake state while the robot is enabled for operation, thereby damaging the brake motor. This reduces the risk of the gravity shaft hitting industrial products, causing fires and explosions, and also reduces the safety hazards of on-site operators.

[0065] In addition, the self-test circuit 110 can also be applied to the working process of the robot. The self-test circuit 110 detects the output end of the brake coil 300 through the second input end. If the self-test circuit 110 does not receive the electrical signal output by the output end, it means that the wiring between the brake control circuit 200 and the brake coil 300 is broken, and the brake coil 300 cannot be powered. At this time, the self-test circuit 110 outputs a circuit break detection signal indicating that the wiring between the brake control circuit 200 and the brake coil 300 is broken, so that the processing unit 120 outputs a circuit break alarm information when receiving the circuit break feedback signal; if the self-test circuit 110 detects a high-level signal output from the output end, it means that the wiring between the brake control circuit 200 and the brake coil 300 is normal, and the brake coil 300 can be powered normally. At this time, the self-test circuit 110 outputs a circuit break detection signal indicating that the wiring between the brake control circuit 200 and the brake coil 300 is normal, so that the processing unit 120 controls the brake drive circuit 230 to keep working.

[0066] The technical solution of the present invention connects the self-test circuit 110 to the control terminal of the brake control circuit 200 and the output terminal of the brake coil 300, respectively, to detect the electrical signals at the control terminal of the brake control circuit 200 or the output terminal of the brake coil 300 when the brake control circuit 200 receives different detection signals, and outputs corresponding feedback signals to the processing unit 120 based on the received electrical signals. The processing unit 120 determines whether there is an abnormality in the brake control circuit 200 based on the received feedback signals. If any function is detected to be abnormal, an alarm message for the corresponding function is output. If all functions are tested and no abnormality is found, the motor is controlled to enable operation. This prevents the robot from being unable to brake due to an abnormality in the brake control circuit 200 after it is enabled to operate, causing the robot to lose its arm, or the brake motor remains in the brake state when the robot is enabled to operate, thereby damaging the brake motor. This reduces the risk of the gravity shaft hitting industrial products, causing fires and explosions, and also reduces safety hazards for on-site operators.

[0067] Reference Figures 1 to 2 In one embodiment, the self-test circuit 110 includes:

[0068] a function self-test circuit 111, wherein the input end of the function self-test circuit 111 is the first input end of the self-test circuit 110, and the output end of the function self-test circuit 111 is electrically connected to the processing unit 120. The function self-test circuit 111 is used to detect the electrical signal of the control end of the brake control circuit 200 after power-on, and output a corresponding short-circuit feedback signal based on the detected electrical signal;

[0069] The processing unit 120 is further configured to determine whether the control terminal of the brake control circuit 200 is short-circuited to the ground according to the received short-circuit feedback signal.

[0070] In this embodiment, the functional self-test circuit 111 may include an optocoupler or other electrical isolation devices.

[0071] After the robot is powered on and before it is enabled to run, the control end of the brake control circuit 200 needs to be tested by the processing unit 120. The control end is used to connect or disconnect the loop between the brake coil 300 and the ground. If a low level is detected at the output of the control end, it means that the control end is short-circuited to the ground. At this time, the output end of the brake coil 300 is directly connected to the ground. After the robot is powered on, a current loop will be formed between the brake coil 300 and the ground, causing the brake motor to release, causing the robot's motion axis to drop. In severe cases, the gravity axis may hit the industrial product, causing a dangerous fire and explosion, posing a safety hazard to on-site operators.

[0072] It is understood that the control terminal of the brake control circuit 200 is connected to the first input terminal of the self-test circuit 110. After the robot is powered on and before operation is enabled, since the brake control circuit 200 is not in the enabled state, the connection between the control terminal and ground is disconnected, and the first input terminal of the self-test circuit 110 does not receive any electrical signal. At this time, the state of the self-test circuit 110 does not flip. However, when the control terminal is short-circuited to ground, the self-test circuit 110 forms a detection loop through the control terminal and ground, causing the self-test circuit 110 to flip after receiving a low level output from the control terminal and output a short-circuit feedback signal indicating that the control terminal of the brake control circuit 200 is short-circuited. Therefore, whether the control terminal of the brake control circuit 200 is short-circuited can be determined by whether the self-test circuit 110 receives a low level output from the control terminal of the brake control circuit 200 after the robot is powered on and before operation is enabled.

[0073] Reference Figures 1 to 2 In one embodiment, the processing unit 120 is further configured to send a detection pulse of a preset width to the controlled end of the brake control circuit 200 when it is determined that the control end of the brake control circuit 200 is not short-circuited;

[0074] The function self-test circuit 111 is further used to detect the feedback pulse outputted from the output terminal of the brake control circuit 200 and output a function feedback signal of the same pulse width according to the feedback pulse;

[0075] The processing unit 120 is further configured to determine that the brake control circuit 200 has a function abnormality and output a function alarm message when the pulse width of the function feedback signal is not equal to the preset width.

[0076] In this embodiment, after determining that the control terminal of the brake control circuit 200 is not short-circuited, the processing unit 120 outputs a detection pulse of a preset width to the brake control circuit 200 and determines whether the signal transmission function of the brake control circuit 200 is normal based on the feedback pulse output by the control terminal of the brake control circuit 200. The preset width can be the low-level width of the detection pulse or the high-level width of the detection pulse. In this embodiment, it is the low-level width of the detection pulse. The preset width can be set by researchers during development. If it is detected that the pulse width of the feedback pulse output by the control terminal is not equal to the preset width, it indicates that the signal transmission function of the brake control circuit 200 is abnormal, and the brake control circuit 200 cannot achieve consistency between signal input and output.

[0077] It should be noted that during the process of enabling the robot to run, the brake control circuit 200 electrically isolates the PWM signal output by the processing unit 120 and outputs it to the brake coil 300, so that the processing unit 120 can adjust the voltage value at both ends of the brake coil 300 by adjusting the duty cycle of the output PWM signal. If the signal transmission function of the brake control circuit 200 is abnormal, the duty cycle of the PWM signal output by the brake control circuit 200 to the brake coil 300 will deviate from the duty cycle of the received PWM signal, resulting in the voltage at both ends of the brake coil 300 being too high or too low, which not only affects the consistency of power supply between multiple brake coils 300 of the robot, but also causes the machine temperature to rise due to the excessively high coil voltage, burning the motor, or the coil voltage is too low to drive the motor to release the brake, thereby causing the motor to be enabled to run when the brake is not open, causing damage to the brake.

[0078] Therefore, after the processing unit 120 outputs a detection signal with a preset pulse width to the brake control circuit 200, the brake control circuit 200 electrically isolates the detection signal and outputs it to the self-test circuit 110 via the control terminal. Based on the received feedback pulse, the self-test circuit 110 outputs a function detection signal with the same pulse width as the feedback pulse. The pulse width of the function detection signal received by the processing unit 120 is the pulse width of the feedback pulse. When the pulse width of the feedback pulse is equal to the preset pulse width, the processing unit 120 determines that the signal transmission function of the brake control circuit 200 is normal. When the pulse width of the feedback pulse is not equal to the preset pulse width, the processing unit 120 determines that the signal transmission function of the brake control circuit 200 is abnormal. Therefore, by detecting whether the control terminal of the brake control circuit 200 outputs a feedback pulse with the preset pulse width, it is possible to determine whether the signal transmission function of the brake control circuit 200 is abnormal.

[0079] Reference Figures 1 to 2 In one embodiment, the self-test circuit 110 further includes:

[0080] a circuit breaker detection circuit 112 , wherein an input terminal of the circuit breaker detection circuit 112 is the second input terminal of the self-test circuit 110 , and an output terminal of the circuit breaker detection circuit 112 is electrically connected to the processing unit 120 ;

[0081] The processing unit 120 is further configured to output a power enable signal to an enable terminal of the brake control circuit 200 after determining that the brake control circuit 200 functions normally, so as to control the brake control circuit 200 to output the connected DC power to the brake coil 300;

[0082] The circuit breaker detection circuit 112 is used to detect the electrical signal at the output end of the brake coil 300 and output a corresponding circuit breaker feedback signal according to the detected electrical signal;

[0083] The processing unit 120 is further configured to determine whether the connection between the brake control circuit 200 and the brake coil 300 is broken according to the received broken circuit feedback signal.

[0084] In this embodiment, after determining that the signal transmission function of the brake control circuit 200 is normal, the processing unit 120 detects the output end of the brake coil 300. The output end of the brake coil 300 is used to form a current loop between the brake coil 300 and the ground when the brake coil 300 is connected to a DC power supply. If, after the brake control circuit 200 is powered on, it is detected that the output end of the brake coil 300 does not output an electrical signal, it means that the connection between the brake coil 300 and the brake control circuit 200 is disconnected. At this time, the input end of the brake coil 300 cannot be connected to the DC power supply. When the robot is enabled and running, the brake motor cannot be released, causing damage to the brake motor.

[0085] It is understood that the output end of the brake coil 300 is connected to the second input end of the self-test circuit 110. After the robot is powered on and before it is enabled, the brake control circuit 200 is in the power-enabled state. Therefore, the brake control circuit 200 outputs the DC power supply. After receiving the power, the brake coil 300 outputs a high level. The output end forms a detection loop with the self-test circuit 110 via the second input end. After receiving the high level output from the output end, the self-test circuit 110 flips and outputs a circuit-break feedback signal indicating that the connection is normal. When the connection between the brake coil 300 and the brake control circuit 200 is disconnected, the second input end of the self-test circuit 110 does not receive any electrical signal, and the state of the self-test circuit 110 does not flip. Therefore, by determining whether the self-test circuit 110 receives the high level output from the output end of the brake coil 300 before the robot is enabled and the brake control circuit 200 is in the power-enabled state, it can be determined whether the connection between the brake coil 300 and the brake control circuit 200 is disconnected.

[0086] Reference Figures 1 to 3 In one embodiment, the disconnection detection circuit 112 includes a first optocoupler U1, a first capacitor C1, a second capacitor C2, a third capacitor C3, a first resistor R1, a second resistor R2, and a third resistor R3;

[0087] The first input end of the first optocoupler U1 is the input end of the circuit break detection circuit 112 and is connected to the first end of the first capacitor C1. The second input end of the first optocoupler U1 is respectively connected to the second end of the first capacitor C1 and the first end of the second resistor R2. The first output end of the first optocoupler U1 is respectively connected to the first end of the second resistor R2 and the first end of the third resistor R3; the second end of the second resistor R2 is used to access a DC power supply and is connected to the first end of the third capacitor C3; the second end of the third resistor R3 is the output end of the circuit break detection circuit 112 and is connected to the first end of the second capacitor C2; the second output end of the first optocoupler U1, the second end of the first resistor R1, the second end of the second capacitor C2, and the second end of the third capacitor C3 are respectively grounded.

[0088] In this embodiment, when the processing unit 120 detects the connection between the brake control circuit 200 and the brake motor, it outputs a power enable signal to enable the brake control circuit 200 to connect the connected DC power supply to the brake coil 300. The input end of the first optocoupler U1 is connected to the output end of the brake coil 300 through the output end. When the output end of the brake coil 300 outputs a low level, the light-emitting end of the first optocoupler U1 is not conductive, so the receiving end of the first optocoupler U1 is disconnected, so that the output end of the first optocoupler U1 is disconnected from the ground and connected to the DC power supply. Therefore, the circuit breaker detection circuit 112 outputs a high-level circuit breaker feedback signal, indicating that the brake is at this time. The connection between the brake control circuit 200 and the brake coil 300 is broken, and the DC power supply cannot supply power to the brake coil 300; when the output end of the brake coil 300 outputs a high level, the light-emitting end of the first optocoupler U1 is turned on, so the receiving end of the first optocoupler U1 is light-sensitive and connected, so that the output end of the first optocoupler U1 is grounded, so the circuit break detection circuit 112 outputs a low level, indicating that the connection between the brake control circuit 200 and the brake coil 300 is normal at this time, and the DC power supply can supply power to the brake coil 300 normally, so the processing unit 120 ends self-test after receiving the circuit break detection signal, and waits for the user to input an enable control signal to control the robot to work.

[0089] Reference Figures 1 to 4 In one embodiment, the functional self-test circuit 111 includes a second optocoupler U2, a fourth capacitor C4, a fifth capacitor C5, a sixth capacitor C6, a fourth resistor, a fifth resistor R5 and a sixth resistor R6;

[0090] The first input end of the second optocoupler U2 is respectively connected to the first end of the fourth capacitor C4 and the first end of the fourth resistor; the second input end of the second optocoupler U2 is the input end of the functional self-test circuit 111 and is connected to the second end of the fourth capacitor C4; the first output end of the second optocoupler U2 is respectively connected to the first end of the fifth resistor R5 and the first end of the sixth resistor R6; the second end of the fifth resistor R5 is used to access a DC power supply and is connected to the first end of the sixth capacitor C6; the second end of the sixth resistor R6 is the output end of the functional self-test circuit 111 and is connected to the first end of the fifth capacitor C5; the second output end of the second optocoupler U2, the second end of the fourth resistor, the second end of the fifth capacitor C5 and the second end of the sixth capacitor C6 are respectively grounded.

[0091] In this embodiment, when the functional self-test circuit 111 performs a short-circuit self-test on the brake control circuit 200, the second optocoupler U2 detects the control end of the brake control circuit 200. When the input end of the second optocoupler U2 is connected to a low level, the light-emitting end of the second optocoupler U2 is turned on, so that the receiving end of the second optocoupler U2 is light-sensitive and turned on, so that the output end of the second optocoupler U2 is grounded. Therefore, the functional self-test circuit 111 outputs a low level, indicating that the switch tube of the brake control circuit 200 is short-circuited at this time; when the control end connected to the input end of the second optocoupler U2 is suspended, the light-emitting end of the second optocoupler U2 is not turned on, so that the receiving end of the second optocoupler U2 is disconnected, so that the output end of the second optocoupler U2 is disconnected from the ground and connected to the DC power supply ... 1 outputs a high level to the processing unit 120, so that after determining that the switching tube of the brake control circuit 200 is normal, the processing unit 120 begins to output a detection pulse of a preset width to the brake control circuit 200, so that the brake control circuit 200 outputs a feedback pulse corresponding to the detection pulse. Because the second optocoupler U2 outputs a low level when the input end is connected to a low level, and outputs a high level when the input end is connected to a high level, it can output a function detection signal with the same pulse width as the feedback pulse. The processing unit 120 compares the pulse width of the function detection signal with the preset width, and determines whether the transmission function of the brake control circuit 200 is normal by determining whether the pulse width of the function detection signal is the same as the preset width, thereby completing a functional self-test of the brake control circuit 200.

[0092] The present invention also proposes a self-test method, which is applied to a motor brake control system, wherein the motor brake control system includes a brake control circuit 200 and a brake coil 300 connected in series. Figures 1 to 6 In one embodiment, the self-test method includes:

[0093] S100, detecting an electrical signal from a control terminal of the brake control circuit 200 and outputting a corresponding feedback signal;

[0094] S200 : Sending a self-test signal to the brake control circuit 200 , and judging whether the function of the brake control circuit 200 is normal according to a feedback signal output by the brake control circuit 200 .

[0095] In this embodiment, before the robot is powered on and enabled for operation, the control terminal of the brake control circuit 200 is first tested to receive an electrical signal output by the control terminal. The control terminal is used to open or close the circuit between the brake coil 300 and ground. If the control terminal is shorted to ground, during subsequent testing, once the processing unit 120 enables the power supply to the brake control circuit 200, a current loop will form between the brake coil 300 and ground, causing the brake motor to release and the robot's motion axis to drop. Therefore, the control terminal of the brake circuit must be tested first. Because the brake control circuit 200 is not enabled and the connection between the control terminal and ground is disconnected, the first input terminal of the motor brake control system self-test circuit does not receive any electrical signal. However, when the control terminal is shorted to ground, the first input terminal of the motor brake control system self-test circuit receives a low level output by the control terminal. Therefore, when the control end of the brake control circuit 200 is detected, whether the control end of the brake control circuit 200 is short-circuited can be determined by whether the motor brake control system self-test circuit receives a low level output by the control end of the brake control circuit 200.

[0096] After determining that the control end of the brake control circuit 200 is not short-circuited, the motor brake control system self-test circuit outputs detection signals of different functions to the brake control circuit 200, which are used to respectively detect whether the internal wiring, signal transmission function, and connection with the brake coil 300 of the brake control circuit 200 are normal, and based on the feedback signal generated by the brake control circuit 200 after receiving the detection signal, it is judged whether the internal wiring, signal transmission function, and connection with the brake coil 300 of the brake control circuit 200 are abnormal. If any function of the brake control circuit 200 is detected to be abnormal, the alarm information of the corresponding function is output. If all functions are detected to be normal, the motor is controlled to enable operation.

[0097] The technical solution of the present invention detects the electrical signals generated by the control end of the brake control circuit 200 and the output end of the brake coil 300 to determine whether the brake control circuit 200 has any abnormalities in the internal wiring, signal transmission function, and wiring with the brake coil 300, thereby preventing the motor from being unable to brake due to abnormalities in the brake control circuit 200 after the robot is enabled to run, causing the robot to lose its arm, or the brake motor is still in the braking state when the robot is enabled to run, thereby damaging the brake motor. This reduces the risk of the gravity shaft hitting industrial products, causing fires and explosions, and at the same time reduces the safety hazards of on-site operators.

[0098] Reference Figures 1 to 7 In one embodiment, in this embodiment, the self-test method specifically includes:

[0099] S310, detecting an electrical signal at a control terminal of the brake control circuit 200 after power-on;

[0100] S320: When it is determined based on the detected electrical signal that the output end of the brake control circuit 200 is not short-circuited, sending a detection pulse of a preset width to the controlled end of the brake control circuit 200;

[0101] S330: When it is detected that the pulse width of the feedback pulse output by the brake control circuit 200 is equal to the preset width, determining that the brake control circuit 200 functions normally, outputting a power enable signal to the brake control circuit 200 to control the brake control circuit 200 to output the connected DC power to the brake coil 300, and detecting an electrical signal at the output end of the brake coil 300;

[0102] S340 : Determine whether the connection between the brake control circuit 200 and the brake coil 300 is broken according to the electrical signal at the output end of the brake coil 300 .

[0103] In this embodiment, before the robot is powered on and enabled, the control terminal of the brake control circuit 200 is first tested to receive an electrical signal output by the control terminal. The control terminal is used to connect or disconnect the circuit between the brake coil 300 and ground. When the robot is first powered on, because the brake control circuit 200 is not enabled, the connection between the control terminal and ground is disconnected, and the first input terminal of the motor brake control system self-test circuit does not receive any electrical signal. However, when the control terminal is short-circuited to ground, the first input terminal of the motor brake control system self-test circuit receives a low level output by the control terminal. Therefore, when the motor brake control system self-test circuit detects a low level output by the control terminal at its first input terminal, it can determine that the control terminal of the brake control circuit 200 is not short-circuited.

[0104] After determining that the output terminal of the brake control circuit 200 is not short-circuited, the motor brake control system self-test circuit outputs a detection signal with a preset pulse width to the brake control circuit 200. The brake control circuit 200 electrically isolates the detection signal and outputs a feedback pulse to the motor brake control system self-test circuit via the control terminal. The pulse width of the feedback pulse is compared with the preset pulse width. If the pulse width of the feedback pulse is equal to the preset pulse width, the signal transmission function of the brake control circuit 200 is determined to be normal. If the pulse width of the feedback pulse is not equal to the preset pulse width, the signal transmission function of the brake control circuit 200 is determined to be abnormal. Therefore, when the control terminal of the brake control circuit 200 outputs a feedback pulse with a preset pulse width, it is determined whether the signal transmission function of the brake control circuit 200 is abnormal.

[0105] After determining that the transmission function of the brake control circuit 200 is normal, the motor brake control system self-test circuit outputs a power enable signal to the brake control circuit 200, so that the brake control circuit 200 outputs the connected DC power supply, and the brake coil 300 outputs a high level after receiving the power supply. After the output end receives the high level via the second input end, it is determined that the connection between the brake control circuit 200 and the brake coil 300 is normal; and when the connection between the brake coil 300 and the brake control circuit 200 is disconnected, the second input end of the self-test circuit 110 does not receive any electrical signal. Therefore, whether the connection between the brake coil 300 and the brake control circuit 200 is broken can be determined by whether the motor brake control system self-test circuit receives the high level output by the output end of the brake coil 300.

[0106] The present invention also proposes a motor brake system, which includes the above-mentioned motor brake control system self-test circuit, the motor brake control circuit 200 and the motor. The specific structure of the motor brake control system self-test circuit refers to the above-mentioned embodiment. Since this motor brake system adopts all the technical solutions of all the above-mentioned embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above-mentioned embodiments, which will not be repeated here one by one.

[0107] Reference Figures 1 to 5 In one embodiment, the brake control circuit 200 includes:

[0108] A power supply circuit 210, wherein the power supply end of the power supply circuit 210 is used to connect to a DC power supply. The input end of the power supply circuit 210 is the enable end of the brake control circuit 200. The power supply circuit 210 is used to output the connected DC power supply when the power enable signal output by the self-test circuit of the motor brake control system is connected;

[0109] An isolation circuit 220, wherein the power supply end of the isolation circuit 220 is used to connect to a low-voltage DC power supply, the input end of the isolation circuit 220 is the controlled end of the control circuit, and the isolation circuit 220 is used to electrically isolate and output the received detection pulse, release control signal, or brake control signal;

[0110] The drive circuit 230 is electrically connected to the power supply circuit 210, the isolation circuit 220 and the brake coil 300 respectively. The drive circuit 230 is used to drive the brake coil 300 to release the brake when it receives a release control signal and a power enable signal, or to drive the brake coil 300 to brake when it does not receive a release control signal and / or a power enable signal.

[0111] In this embodiment, the isolation circuit 220 may include an optocoupler, an isolation driver, or other isolation devices. The power supply circuit 210 includes a second MOS transistor, a third MOS transistor, a tenth resistor, and an eleventh resistor; the gate of the second MOS transistor is the input terminal of the power supply circuit 210 and is connected to the first end of the eleventh resistor. The drain of the second MOS transistor is connected to the first end of the tenth resistor and the gate of the third MOS transistor respectively. The drain of the third MOS transistor is used to access a DC power supply and is connected to the second end of the tenth resistor. The source of the third MOS transistor is the output terminal of the power supply circuit 210. The source of the second MOS transistor and the second end of the eleventh resistor are grounded.

[0112] When performing a self-check on the connection between the brake control circuit 200 and the brake coil 300, or controlling the brake motor to release the brake during the operation of the brake control circuit 200, it is necessary to output a power enable signal to the input end of the power supply circuit 210 to turn on the second MOS tube. At this time, the DC power supply forms a current loop with the ground after being divided by the tenth resistor, causing the third MOS tube to turn on due to the high level received by the gate, and the DC power is output through the third MOS tube.

[0113] When driving the brake control circuit 200 to release the brake, a release control signal is output to the controlled end of the brake control circuit 200, and after being electrically isolated by the isolation device, it is output to the drive circuit 230, so that the drive circuit 230 connects the output end of the brake coil 300 to the ground, forming a current loop, so that the DC power output by the power supply circuit 210 flows through the brake coil 300, driving the brake motor to release the brake.

[0114] When the brake control circuit 200 is driven to release the brake, the output of the release control signal is stopped. At this time, the second MOS tube is turned off, and the connection between the tenth resistor and the ground is disconnected, so that the third MOS tube cannot receive the high level and is turned off. The loop between the DC power supply and the output end of the brake control circuit 200 is disconnected, and the coil is no longer powered. At the same time, the brake control signal is output to the controlled end of the brake control circuit 200, and after being electrically isolated by the isolation device, it is output to the drive circuit 230, so that the drive circuit 230 disconnects the loop between the output end of the brake coil 300 and the ground, so that the brake coil 300 loses power and drives the motor to brake.

[0115] Reference Figures 1 to 5 In one embodiment, the isolation circuit 220 includes:

[0116] A high-speed isolation driver, the power supply end of the high-speed isolation driver is used to connect to a low-voltage DC power supply, the input end of the high-speed isolation driver is the input end of the isolation circuit 220, and the high-speed isolation driver is used to electrically isolate the connected detection pulse, release control signal or brake control signal and output it to the drive circuit 230.

[0117] In this embodiment, the high-speed isolation driver U3 adopts push-pull output, which has low loss and high efficiency. It can achieve consistency in PWM signal input and output when receiving a higher-frequency PWM signal. The duty cycle of the output PWM signal will not deviate from the duty cycle of the output PWM signal due to the higher frequency of the input PWM signal. Therefore, the brake control circuit 200 is compatible with over-excited brake motors.

[0118] The release process of the overexcited brake motor is divided into an excitation stage and a holding stage. The voltage of 24V in the excitation stage is maintained for a period of time (such as ms), and a lower voltage (such as 7V or 10V) is required in the holding stage. The processing unit 120 adjusts the voltage of the overexcited brake motor in the holding stage by adjusting the duty cycle of the output PWM signal. The frequency of the PWM signal determines the average current in the holding stage. Too low a frequency may cause abnormal noise during brake oscillation and reduce reliability. Since the high-speed isolation driver U3 can improve the consistency of PWM signal input and output, it can be compatible with higher frequency PWM signals, reduce abnormal noise during brake oscillation, and improve the reliability of the brake motor.

[0119] Reference Figures 1 to 5 In one embodiment, the driving circuit 230 includes a first MOS transistor Q1, a first transient diode TVS1, a second transient diode TVS2, a first diode D1, a second diode D2, a seventh capacitor C7, an eighth capacitor C8, a seventh resistor R7, an eighth resistor R8, and a ninth resistor R9;

[0120] A first end of the seventh resistor R7 is connected to the DC power output by the power supply circuit 210 and is respectively connected to the first end of the seventh capacitor C7 and the anode of the second transient diode TVS2. A second end of the seventh resistor R7 is connected to the cathode of the first transient diode TVS1. A first end of the eighth resistor R8 is connected to the input end of the drive circuit 230. A second end of the eighth resistor R8 is respectively connected to the first end of the ninth resistor R9 and the gate of the first MOS transistor Q1. The drain of the first MOS transistor Q1 is respectively connected to the anode of the first diode D1 and the cathode of the second diode D2. The cathode of the first diode D1 is connected to the cathode of the second transient diode TVS2. The anode of the second diode D2 is the negative output end of the drive circuit 230, and the anode of the second transient diode TVS2 is the positive output end of the drive circuit 230. The anode of the first transient diode TVS1, the second end of the seventh capacitor C7, the source of the first MOS transistor Q1, and the ninth resistor R9 are respectively grounded.

[0121] In this embodiment, when the robot receives an enable signal to work, it is necessary to drive the brake control circuit 200 to release the brake. The brake control system self-test circuit 110 outputs a release control signal to the drive circuit 230 via the isolation circuit 220, so that the first MOS tube Q1 is turned on, and the output end of the brake coil 300 is connected to the ground. At the same time, a power enable signal is output to the power supply circuit 210, so that the DC power output by the power supply circuit 210 flows through the brake coil 300, driving the brake motor to release the brake.

[0122] When the robot is powered off, the robot's upper and lower motion axes need to be braked. At this time, the brake control system self-test circuit 110 stops outputting the power enable signal, so that the DC power supply no longer supplies power to the brake coil 300. At the same time, the motor brake control system self-test circuit outputs a brake control signal to the drive circuit 230 via the isolation circuit 220. The first MOS transistor Q1 is disconnected due to the low-level gate voltage received. As a result, the remaining electrical energy in the coil can only flow through the second transient diode TVS2 under the unidirectional conduction of the first diode D1 and the second diode D2 and be discharged. As a result, the back electromotive force of the brake coil 300 causes the second transient diode TVS2 to break down in reverse at the moment the first MOS transistor Q1 is turned off. Due to the voltage clamping characteristics of the transient diode, it can quickly absorb energy, which accelerates the consumption of the coil current. Therefore, during the hard emergency stop of the robot, the robot's braking delay can be shortened, thereby reducing the end drop distance and improving the robot's safety performance.

[0123] Reference Figures 1 to 5In one embodiment, the clamping voltage Vc of the second transient diode TVS2 satisfies Vds>24+Vc, and the power Pmax of the second transient diode TVS2 satisfies Pmax>(7-10)*Vc*Ipp;

[0124] The Vds is the withstand voltage of the first MOS transistor Q1, and the Ipp is the holding current of the brake motor.

[0125] In this embodiment, the voltage 24 is the voltage of the DC power supply connected to the brake control circuit 200. In other embodiments, the voltage 24 can be replaced with other corresponding voltages according to the connected DC power supply. When consuming the back electromotive force of the brake coil 300, electric energy flows unidirectionally to the anode of the second transient diode TVS2 under the action of the first diode D1 and the second diode D2. Therefore, the cathode voltage of the first diode D1 is the sum of the voltage drop across the second transient diode TVS2 and the base voltage of 24V. That is, the withstand voltage Vds of the first MOS transistor Q1 is greater than 24+Vc. This ensures that the first MOS transistor Q1 is not burned by the high current when the second transient diode TVS2 is reversely broken down to consume the electromotive force.

[0126] Furthermore, when discharging the back electromotive force of the brake coil 300, since the robot's brake delay is related to the freewheeling time of the brake coil 300, a high-power second transient diode (TVS2) needs to be selected to shorten the freewheeling time of the brake coil 300. The greater the power consumption of the transient diode, the shorter the required freewheeling time. However, high-power transient diodes are often expensive, so adding transient diodes will also increase the cost of the brake control circuit 200. Therefore, by testing the freewheeling time required by the brake coil 300 when connected to transient diodes of different powers, the required power of the second transient diode (TVS2) is obtained as Pmax>(7-10)*Vc*Ipp. This shortens the robot's brake delay and reduces the end-of-fall distance, improving the robot's safety performance while reducing the cost of the transient diode.

[0127] The above descriptions are merely optional embodiments of the present invention and do not limit the patent scope of the present invention. All equivalent structural transformations made using the contents of the present description and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A motor brake control system self-test circuit, applied to a motor brake control system, wherein the motor brake control system comprises a brake control circuit and a brake coil connected in series, characterized in that: The motor brake control system self-test circuit includes: a self-test circuit, wherein a first input end of the self-test circuit is electrically connected to a control end of the brake control circuit, a second input end of the self-test circuit is electrically connected to an output end of the brake coil, and the self-test circuit is configured to detect a detection signal generated by the brake control circuit and output a corresponding feedback signal; a processing unit, the processing unit being electrically connected to a controlled end of the brake control circuit and an output end of the self-test circuit, respectively, the processing unit being configured to send a self-test signal to the brake control circuit via the controlled end, and to determine whether the brake control circuit functions normally based on the received feedback signal; The self-test circuit comprises: a functional self-test circuit, wherein the input end of the functional self-test circuit is the first input end of the self-test circuit, the output end of the functional self-test circuit is electrically connected to the processing unit, and the functional self-test circuit is used to detect the electrical signal of the control end of the brake control circuit after power-on, and output a corresponding short-circuit feedback signal according to the detected electrical signal; The processing unit is further configured to determine, based on the received short-circuit feedback signal, whether the control terminal of the brake control circuit is short-circuited to the ground, so as to determine whether the brake coil is connected to the ground; The processing unit is further configured to send a detection pulse of a preset width to the controlled end of the brake control circuit when it is determined that the control end of the brake control circuit is not short-circuited; The functional self-test circuit is further used to detect the feedback pulse outputted by the output terminal of the brake control circuit, and output a functional feedback signal with the same pulse width according to the feedback pulse; The processing unit is further configured to determine that the signal transmission function of the brake control circuit is abnormal and output function alarm information when the pulse width of the function feedback signal is not equal to the preset width; The self-test circuit further comprises: a circuit breaker detection circuit, wherein the input end of the circuit breaker detection circuit is the second input end of the self-test circuit, and the output end of the circuit breaker detection circuit is electrically connected to the processing unit; The processing unit is further configured to, after determining that the brake control circuit functions normally, output a power enable signal to the enable terminal of the brake control circuit to control the brake control circuit to output the connected DC power to the brake coil; The circuit breaker detection circuit is used to detect the electrical signal at the output end of the brake coil and output a corresponding circuit breaker feedback signal according to the detected electrical signal; The processing unit is further configured to determine whether a connection between the brake control circuit and the brake coil is broken according to the received circuit-breaking feedback signal; When the control terminal is short-circuited to the ground, the self-test circuit forms a detection loop through the control terminal and the ground, so that the self-test circuit flips after receiving the low level output by the control terminal and outputs a corresponding short-circuit feedback signal.

2. The motor brake control system self-test circuit according to claim 1, characterized in that: The disconnection detection circuit includes a first optical coupler, a first capacitor, a second capacitor, a third capacitor, a first resistor, a second resistor and a third resistor; The first input end of the first optocoupler is the input end of the circuit break detection circuit and is connected to the first end of the first capacitor. The second input end of the first optocoupler is respectively connected to the second end of the first capacitor and the first end of the second resistor. The first output end of the first optocoupler is respectively connected to the first end of the second resistor and the first end of the third resistor; the second end of the second resistor is used to access a DC power supply and is connected to the first end of the third capacitor; the second end of the third resistor is the output end of the circuit break detection circuit and is connected to the first end of the second capacitor; the second output end of the first optocoupler, the second end of the first resistor, the second end of the second capacitor, and the second end of the third capacitor are respectively grounded.

3. The motor brake control system self-test circuit according to claim 1, characterized in that: The functional self-test circuit includes a second optical coupler, a fourth capacitor, a fifth capacitor, a sixth capacitor, a fourth resistor, a fifth resistor and a sixth resistor; The first input end of the second optocoupler is respectively connected to the first end of the fourth capacitor and the first end of the fourth resistor, the second input end of the second optocoupler is the input end of the functional self-test circuit, and is connected to the second end of the fourth capacitor, the first output end of the second optocoupler is respectively connected to the first end of the fifth resistor and the first end of the sixth resistor; the second end of the fifth resistor is used to access a DC power supply and is connected to the first end of the sixth capacitor; the second end of the sixth resistor is the output end of the functional self-test circuit and is connected to the first end of the fifth capacitor; the second output end of the second optocoupler, the second end of the fourth resistor, the second end of the fifth capacitor, and the second end of the sixth capacitor are respectively grounded.

4. A self-test method, applied to a motor brake control system, wherein the motor brake control system comprises a brake control circuit and a brake coil connected in series, characterized in that: The self-test method is based on the motor brake control system self-test circuit according to any one of claims 1 to 3, comprising: Detecting the electrical signal of the control end of the brake control circuit and outputting a corresponding feedback signal; A self-test signal is sent to the brake control circuit, and whether the function of the brake control circuit is normal is determined according to a feedback signal output by the brake control circuit.

5. The self-test method according to claim 4, wherein: The self-test method specifically includes: detecting an electrical signal from a control terminal of the brake control circuit after power is supplied; When it is determined based on the detected electrical signal that the output end of the brake control circuit is not short-circuited, sending a detection pulse of a preset width to the controlled end of the brake control circuit; When it is detected that the pulse width of the feedback pulse output by the brake control circuit is equal to the preset width, it is determined that the function of the brake control circuit is normal, and a power enable signal is output to the brake control circuit to control the brake control circuit to output the connected DC power to the brake coil, and detect the electrical signal at the output end of the brake coil; Whether a connection between the brake control circuit and the brake coil is broken is determined according to an electrical signal at an output end of the brake coil.

6. A motor brake system, characterized in that: The motor brake system comprises a motor brake control system self-test circuit, a brake control circuit and a brake coil according to any one of claims 1 to 3; The first output end and the second output end of the motor brake control system self-test circuit are respectively connected to the controlled end and the enable end of the brake control circuit in a one-to-one correspondence; the first input end of the motor brake control system self-test circuit is connected to the output end of the brake coil; the second input end of the motor brake control system self-test circuit is connected to the control end of the brake control circuit; the brake coil is connected in series between the positive phase output end and the negative phase output end of the brake control circuit.

7. The motor brake system according to claim 6, characterized in that: The brake control circuit includes: A power supply circuit, wherein the power supply end of the power supply circuit is used to access a DC power supply, the input end of the power supply circuit is the enable end of the brake control circuit, and the power supply circuit is used to output the connected DC power supply when the power enable signal output by the self-test circuit of the motor brake control system is accessed; An isolation circuit, wherein the power supply end of the isolation circuit is used to connect to a low-voltage DC power supply, the input end of the isolation circuit is the controlled end of the control circuit, and the isolation circuit is used to electrically isolate and output the received detection pulse, release control signal, or brake control signal; A drive circuit, wherein the drive circuit is electrically connected to the power supply circuit, the isolation circuit and the brake coil respectively, and the drive circuit is used to drive the brake coil to release the brake when a release control signal and a power enable signal are received, or to drive the brake coil to engage the brake when no release control signal and / or power enable signal are received.

8. The motor brake system according to claim 7, characterized in that: The isolation circuit comprises: A high-speed isolation driver, wherein the power supply end of the high-speed isolation driver is used to connect to a low-voltage DC power supply, the input end of the high-speed isolation driver is the input end of the isolation circuit, and the high-speed isolation driver is used to electrically isolate the connected detection pulse, release control signal or brake control signal and then output it to the drive circuit.

9. The motor brake system according to claim 7, characterized in that: The driving circuit includes a first MOS transistor, a first transient diode, a second transient diode, a first diode, a second diode, a seventh capacitor, an eighth capacitor, a seventh resistor, an eighth resistor and a ninth resistor; The first end of the seventh resistor is an input end of the drive circuit and is respectively connected to the first end of the seventh capacitor and the anode of the second transient state diode. The second end of the seventh resistor is connected to the cathode of the first transient state diode. The first end of the eighth resistor is an input end of the drive circuit, and the second end of the eighth resistor is respectively connected to the first end of the ninth resistor and the gate of the first MOS transistor. The drain of the first MOS transistor is respectively connected to the anode of the first diode and the cathode of the second diode. The cathode of the first diode is connected to the cathode of the second transient state diode. The anode of the second diode is a negative output end of the drive circuit, and the anode of the second transient state diode is a positive output end of the drive circuit. The anode of the first transient state diode, the second end of the seventh capacitor, the source of the first MOS transistor, and the ninth resistor are respectively grounded.

10. The motor brake system according to claim 9, characterized in that: The clamping voltage Vc of the second transient diode satisfies Vds>24+Vc, and the power Pmax of the second transient diode satisfies Pmax>(7-10)*Vc*Ipp; Among them, the Vds is the withstand voltage value of the first MOS tube, and the Ipp is the maintenance current value of the motor.

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