Equipment shutdown method, device, terminal equipment and storage medium

Abstract

The present invention discloses a method, device, terminal device and storage medium for stopping equipment. The method controls a motor to perform a brake action in response to an emergency stop signal, and determines whether the motor is in a first motion state; if the motor is in the first motion state, the motor is controlled to output a reverse braking torque, and the motor is driven to decelerate, so that the motor enters a second motion state; when the motor is in the second motion state, a torque is outputted by a servo drive to maintain the motor in the second motion state until the brake action is completed; the output of the servo drive to the motor is cut off, and the motor is controlled to perform dynamic braking until the motor is in a stationary state. The motor can be decelerated quickly by the brake and reverse braking torque, and the equipment is kept in a stationary state by the output torque before the brake action is completed, thereby improving the safety performance of the equipment and achieving a fast and reliable shutdown.

Description

Technical Field

[0001] The present invention relates to the field of industrial automation, and in particular to a method and device for stopping equipment, a terminal device and a storage medium. Background Art

[0002] With the rapid development of industrial automation technology, equipment such as machine tools and industrial robots are increasingly used in the field of manufacturing, and there is currently a large room for growth. At the same time, the safety performance requirements for equipment are also getting higher and higher. In the usual application process, when an emergency situation occurs and an emergency shutdown is triggered or some systemic failures occur during the operation of the equipment, especially when running at high speed, it should be ensured that the equipment can quickly and reliably complete the task of emergency shutdown.

[0003] At present, when industrial equipment is shut down urgently, it is usually based on the principle that the three-phase short circuit of the servo motor can produce reverse braking. The three phases of the motor are short-circuited through a relay, which is called dynamic braking. The motor speed is reduced, and the holding brake is combined when the motor speed drops to a low level, and the motor is finally stopped completely. However, when the equipment is at high speed or stationary, there is a risk of collision when using this kind of shutdown method, which is easy to cause safety problems.

[0004] Therefore, it is necessary to propose a solution to improve the safety performance of equipment shutdown.

[0005] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0006] The main purpose of the present invention is to provide a device shutdown method, device, terminal device and storage medium, aiming to improve the safety performance of device shutdown.

[0007] To achieve the above object, the present invention provides a device shutdown method, which is applied to an emergency shutdown system. The emergency shutdown system includes a controller and a motor. The controller includes a servo drive. The device shutdown method includes:

[0008] In response to an emergency stop signal, controlling the motor to perform a braking action, and determining whether the motor is in a first motion state;

[0009] If the motor is in the first motion state, controlling the motor to output a reverse braking torque to drive the motor to decelerate, so that the motor enters the second motion state;

[0010] When the motor is in the second motion state, the servo drive outputs a torque that maintains the motor in the second motion state until the brake action is completed;

[0011] The output of the servo drive to the motor is cut off, and the motor is controlled to perform dynamic braking until the motor is in a stationary state.

[0012] Optionally, before the step of responding to the emergency stop signal, the step further includes:

[0013] generating the emergency stop signal in response to an emergency stop command triggered by a user; and / or,

[0014] The emergency stop signal is generated according to the detected fault caused by the emergency stop system.

[0015] Optionally, in response to the emergency stop signal, the step of controlling the motor to perform a braking action and determining whether the motor is in the first motion state includes:

[0016] In response to the emergency stop signal, controlling the motor to perform a braking action through the servo drive;

[0017] Determine whether the motor is in a first motion state, wherein the first motion state includes a motion speed exceeding a first preset threshold.

[0018] Optionally, the controller is connected to the motor via a cable, and the step of controlling the motor to output a reverse braking torque to drive the motor to decelerate comprises:

[0019] The servo driver receives an instruction from the master control, and based on the instruction, outputs current to the motor through the cable;

[0020] The motor generates a reverse braking torque based on the current, and drives the motor to decelerate by the reverse braking torque.

[0021] Optionally, after the step of controlling the motor to output a reverse braking torque to drive the motor to decelerate, the step further includes:

[0022] Determine whether an abnormal situation occurs;

[0023] If an abnormal situation occurs, the output of the servo drive to the motor is cut off, and the motor is controlled to perform dynamic braking until the motor is in a stationary state.

[0024] Optionally, the step of cutting off the output of the servo drive to the motor and controlling the motor to perform dynamic braking until the motor is in a stationary state includes:

[0025] Cutting off the torque outputted by the servo drive to the motor;

[0026] The three phases of the motor are short-circuited by a relay to perform dynamic braking until the motor is in a stationary state.

[0027] Optionally, the step of short-circuiting three phases of the motor through a relay to perform dynamic braking until the motor is in a stationary state includes:

[0028] Short-circuiting the three phases of the motor through a relay to perform dynamic braking;

[0029] determining whether the dynamic braking is effective;

[0030] If the dynamic braking is not effective, the process returns to the step of short-circuiting the three phases of the motor through a relay to perform dynamic braking until the motor is in a stationary state, and then the dynamic braking is completed.

[0031] Optionally, the equipment shutdown method is applied to a robot.

[0032] In addition, to achieve the above-mentioned purpose, the present invention further provides an equipment shutdown device, which is applied to an emergency shutdown system, wherein the emergency shutdown system includes a controller and a motor, wherein the controller includes a servo drive, and the equipment shutdown device includes:

[0033] A response module, used for controlling the motor to perform a braking action in response to an emergency stop signal, and determining whether the motor is in a first motion state;

[0034] a deceleration module, for controlling the motor to decelerate the motor by outputting a reverse braking torque if the motor is in the first motion state, so as to make the motor enter the second motion state;

[0035] a maintaining module, when the motor is in the second motion state, for outputting a torque for maintaining the motor in the second motion state through the servo drive until the brake action is completed;

[0036] The braking module is used to cut off the output of the servo drive to the motor when the braking action is completed, and control the motor to perform dynamic braking until the motor is in a stationary state.

[0037] In addition, to achieve the above-mentioned purpose, the present invention also provides a terminal device, which includes a memory, a processor, and a device shutdown program stored in the memory and executable on the processor, and the device shutdown program, when executed by the processor, implements the steps of the device shutdown method described above.

[0038] In addition, to achieve the above-mentioned purpose, the present invention also provides a computer-readable storage medium, on which a device shutdown program is stored, and when the device shutdown program is executed by a processor, the steps of the device shutdown method as described above are implemented.

[0039] The embodiment of the present invention proposes a device shutdown method, device, terminal device and storage medium. The device shutdown method is applied to an emergency shutdown system. The emergency shutdown system includes a controller and a motor. The controller includes a servo drive. By responding to an emergency shutdown signal, the motor is controlled to perform a brake action and judge whether the motor is in a first motion state; if the motor is in the first motion state, the motor is controlled to output a reverse braking torque to drive the motor to decelerate so that the motor enters a second motion state; when the motor is in the second motion state, the servo drive outputs a torque to maintain the motor in the second motion state until the brake action is completed; the servo drive output to the motor is cut off, and the motor is controlled to perform dynamic braking until the motor is in a stationary state. The motor can be decelerated quickly by the brake and reverse braking torque. Before the brake action is completed, the device is kept in a stationary state by the output torque, thereby improving the safety performance of the device and achieving fast and reliable shutdown. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 This is a functional module diagram of a terminal device to which the device shutdown device of the present invention belongs;

[0041] Figure 2 A schematic diagram of a flow chart of an exemplary embodiment of a method for shutting down equipment according to the present invention;

[0042] Figure 3 for Figure 2 A schematic diagram of a specific process of step S20 in the embodiment;

[0043] Figure 4 Schematic diagram of the structure of an emergency shutdown system in an embodiment of the present invention;

[0044] Figure 5 The figure is a schematic diagram of the overall process of emergency shutdown in an embodiment of the present invention.

[0045] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0046] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0047] The main solution of the embodiment of the present invention is: by responding to the emergency stop signal, the motor is controlled to perform the brake action, and it is determined whether the motor is in the first motion state; if the motor is in the first motion state, the motor is controlled to output a reverse braking torque to drive the motor to decelerate so that the motor enters the second motion state; when the motor is in the second motion state, the servo drive outputs a torque to maintain the motor in the second motion state until the brake action is completed; the servo drive output to the motor is cut off, and the motor is controlled to perform dynamic braking until the motor is in a stationary state. The motor can be decelerated quickly by the brake and reverse braking torque, and the device is kept in a stationary state by the output torque before the brake action is completed, thereby improving the safety performance of the device and achieving a fast and reliable shutdown.

[0048] When industrial robots and other equipment are shut down urgently, they usually use the principle that the three-phase short circuit of the servo motor can produce reverse braking. The three phases of the motor are short-circuited through a relay, which is called dynamic braking. The motor speed is reduced, and the brake is combined when the motor speed drops to a lower level, eventually stopping the robot completely.

[0049] This approach has two flaws:

[0050] 1. At high speeds, the reverse torque output by the motor's dynamic brake is not enough to stop the robot quickly. Especially at ultra-high speeds, the directional torque output by the dynamic brake is seriously insufficient. Not only can the robot not stop quickly, but it may also be accelerated by gravity and run out of control, eventually leading to safety issues such as excessive stopping distance and time, collisions, etc. Although the dynamic brake output torque can be increased by adding a series resistor when the three phases are short-circuited, this problem still cannot be solved. It will also increase hardware costs and reduce the adaptability of electrical cabinet products.

[0051] Second, in a stationary state, dynamic braking and holding brakes will be performed immediately when an emergency stop is triggered. When the robot is subject to gravity, the braking torque provided by dynamic braking at low speed is very small and there is a delay in the action of the relay physical device. The holding brake is usually a spring-type structure and there is also a delay in action. Both cannot provide timely and reliable torque to overcome gravity and keep the robot stationary, which will eventually cause the robot, which was originally in a stationary state, to fall. There is a very high risk of collision, especially in the lithium battery industry, which may cause serious safety problems such as battery fires.

[0052] The present invention provides a solution, which can improve the safety performance of equipment shutdown and achieve rapid and reliable shutdown in the above two scenarios by improving the method of emergency shutdown of the robot.

[0053] Specifically, refer to Figure 1 , Figure 1 This is a functional module diagram of the terminal device to which the device shutdown device of the present invention belongs. The device shutdown device can be a device that is independent of the terminal device and can shut down the device, and it can be carried on the terminal device in the form of hardware or software. The terminal device can be a smart mobile terminal with data processing functions such as a mobile phone or a tablet computer, or a fixed terminal device or server with data processing functions.

[0054] In this embodiment, the terminal device to which the equipment shutdown apparatus belongs includes at least an output module 110 , a processor 120 , a memory 130 and a communication module 140 .

[0055] The memory 130 stores an operating system and a device shutdown program, and the device shutdown device can store information such as an emergency shutdown signal in the memory 130; the output module 110 can be a display screen, etc. The communication module 140 can include a WIFI module, a mobile communication module, and a Bluetooth module, etc., and communicates with an external device or server through the communication module 140.

[0056] When the device shutdown program in the memory 130 is executed by the processor, the following steps are implemented:

[0057] In response to an emergency stop signal, controlling the motor to perform a braking action, and determining whether the motor is in a first motion state;

[0058] If the motor is in the first motion state, controlling the motor to output a reverse braking torque to drive the motor to decelerate, so that the motor enters the second motion state;

[0059] When the motor is in the second motion state, the servo drive outputs a torque that maintains the motor in the second motion state until the brake action is completed;

[0060] The output of the servo drive to the motor is cut off, and the motor is controlled to perform dynamic braking until the motor is in a stationary state.

[0061] Furthermore, when the device shutdown program in the memory 130 is executed by the processor, the following steps are also implemented:

[0062] generating the emergency stop signal in response to an emergency stop command triggered by a user; and / or,

[0063] The emergency stop signal is generated according to the detected fault caused by the emergency stop system.

[0064] Furthermore, when the device shutdown program in the memory 130 is executed by the processor, the following steps are also implemented:

[0065] In response to the emergency stop signal, controlling the motor to perform a braking action through the servo drive;

[0066] Determine whether the motor is in a first motion state, wherein the first motion state includes a motion speed exceeding a first preset threshold.

[0067] Furthermore, when the device shutdown program in the memory 130 is executed by the processor, the following steps are also implemented:

[0068] The servo driver receives an instruction from the master control, and based on the instruction, outputs current to the motor through the cable;

[0069] The motor generates a reverse braking torque based on the current, and drives the motor to decelerate by the reverse braking torque.

[0070] Furthermore, when the device shutdown program in the memory 130 is executed by the processor, the following steps are also implemented:

[0071] Determine whether an abnormal situation occurs;

[0072] If an abnormal situation occurs, the output of the servo drive to the motor is cut off, and the motor is controlled to perform dynamic braking until the motor is in a stationary state.

[0073] Furthermore, when the device shutdown program in the memory 130 is executed by the processor, the following steps are also implemented:

[0074] Cutting off the torque outputted by the servo drive to the motor;

[0075] The three phases of the motor are short-circuited by a relay to perform dynamic braking until the motor is in a stationary state.

[0076] Furthermore, when the device shutdown program in the memory 130 is executed by the processor, the following steps are also implemented:

[0077] Short-circuiting the three phases of the motor through a relay to perform dynamic braking;

[0078] determining whether the dynamic braking is effective;

[0079] If the dynamic braking is not effective, the process returns to the step of short-circuiting the three phases of the motor through a relay to perform dynamic braking until the motor is in a stationary state, and then the dynamic braking is completed.

[0080] This embodiment uses the above scheme, specifically by responding to the emergency stop signal, controlling the motor to perform the brake action, and judging whether the motor is in the first motion state; if the motor is in the first motion state, controlling the motor to output the reverse braking torque, driving the motor to decelerate, so that the motor enters the second motion state; when the motor is in the second motion state, the servo drive outputs a torque to maintain the motor in the second motion state until the brake action is completed; cutting off the output of the servo drive to the motor, and controlling the motor to perform dynamic braking until the motor is in a stationary state. The motor can be decelerated quickly by the brake and reverse braking torque, and the device is kept in a stationary state by the output torque before the brake action is completed, thereby improving the safety performance of the device and achieving a fast and reliable shutdown.

[0081] Based on the above terminal device architecture but not limited to the above architecture, an embodiment of the method of the present invention is proposed.

[0082] The execution subject of the method of this embodiment may be a device shutdown device or a terminal device, etc. This embodiment takes the device shutdown device as an example.

[0083] Reference Figure 2 , Figure 2 The figure is a flow chart of an exemplary embodiment of the equipment shutdown method of the present invention. The equipment shutdown method is applied to an emergency shutdown system, the emergency shutdown system includes a controller and a motor, the controller includes a servo drive, and the equipment shutdown method includes:

[0084] Step S10, in response to the emergency stop signal, controlling the motor to perform a braking action, and determining whether the motor is in a first motion state;

[0085] In the application process of industrial equipment, emergency shutdown is a common scenario. The equipment shutdown method in the embodiment of the present invention is applied to equipment that requires both rapid shutdown and stable motor position after shutdown, such as machine tools and robots. In the embodiment of the present invention, robots are used as examples for explanation. When an emergency shutdown is required, the robot should ensure timely response to the emergency shutdown signal and quickly and reliably complete the emergency shutdown task. Prior to this, it also includes:

[0086] generating the emergency stop signal in response to an emergency stop command triggered by a user; and / or,

[0087] The emergency stop signal is generated according to the detected fault caused by the emergency stop system.

[0088] Specifically, when an emergency situation occurs and an emergency stop is triggered, or when some systemic faults are detected during the operation of the robot, the emergency stop system responds to the emergency stop signal, and the servo drive immediately controls the motor to perform the braking action and judges the movement state of the motor, including:

[0089] In response to the emergency stop signal, controlling the motor to perform a braking action through the servo drive;

[0090] Determine whether the motor is in a first motion state, wherein the first motion state includes a motion speed exceeding a first preset threshold.

[0091] In addition, when the robot is running at high speed, the reverse torque output by the motor dynamic brake alone is not enough to stop the robot quickly. Especially in the case of ultra-high speed, the directional torque output by the dynamic brake is seriously insufficient. Not only can the robot not stop quickly, but it may also be accelerated by gravity and run out of control, which will eventually lead to safety problems such as excessive stopping distance and time, collision, etc. Therefore, it is necessary to determine whether the motor is in the first motion state. In the embodiment of the present invention, the first motion state is the high-speed motion state. In the actual production process, the speeds of different product specifications are different. The highest speed of the product specification speed can be used as the first preset threshold, and this embodiment does not specifically limit this.

[0092] Step S20, if the motor is in the first motion state, controlling the motor to output a reverse braking torque to drive the motor to decelerate, so that the motor enters the second motion state;

[0093] Furthermore, if the motor is in the first motion state, the servo drive needs to accept the instructions of the main control and control the motor through the cable output current, so that the motor outputs reverse braking torque to drive the transmission mechanism to decelerate, thereby allowing the robot to enter the second motion state.

[0094] Step S30, when the motor is in the second motion state, outputting a torque for maintaining the motor in the second motion state through the servo drive until the brake action is completed;

[0095] Furthermore, when the motor's movement speed is lower than the second preset threshold, the motor is determined to be in the second movement state and enters low-speed operation. In the embodiment of the present invention, the second preset threshold is set at 2% of the product specification speed. When the motor enters the second movement state, the servo drive outputs a torque to maintain the current state of the robot, and the servo drive controls the motor's brake action, waiting for the motor's brake closing action to be delayed to ensure that the brake action is actually completed.

[0096] Step S40, cutting off the output of the servo drive to the motor and controlling the motor to perform dynamic braking until the motor is in a stationary state, specifically includes:

[0097] Cutting off the torque outputted by the servo drive to the motor;

[0098] The three phases of the motor are short-circuited by a relay to perform dynamic braking until the motor is in a stationary state.

[0099] Specifically, when the braking action is actually completed, the main control controls the servo drive to cut off the current output to the motor, and short-circuit the three phases of the motor through the relay for dynamic braking. When the dynamic braking takes effect, it is determined whether the motor is completely stationary. If the motor is stationary, the emergency shutdown is completed, otherwise dynamic braking is performed until the motor is completely stationary.

[0100] In this embodiment, in response to the emergency stop signal, the motor is controlled to perform the brake action, and it is determined whether the motor is in the first motion state; if the motor is in the first motion state, the motor is controlled to output a reverse braking torque to drive the motor to decelerate so that the motor enters the second motion state; when the motor is in the second motion state, the servo drive outputs a torque to maintain the motor in the second motion state until the brake action is completed; the servo drive output to the motor is cut off, and the motor is controlled to perform dynamic braking until the motor is in a stationary state. The motor can be decelerated quickly by the brake and reverse braking torque, and the device is kept in a stationary state by the output torque before the brake action is completed, thereby improving the safety performance of the device and achieving a fast and reliable shutdown.

[0101] Reference Figure 3 , Figure 3 for Figure 2 The specific flow chart of step S20 in the embodiment. Figure 2 In the embodiment shown, in this embodiment, the above step S20 includes:

[0102] Step S201, based on the instruction generated by the main control, the servo driver outputs current to the motor through the cable;

[0103] Step S202: generating a reverse braking torque by the motor based on the current, and driving the motor to decelerate by the reverse braking torque.

[0104] Specifically, the controller is connected to the motor through a cable. When the motor is in the first motion state, the servo drive needs to receive the command of the main control, output current through the cable to complete the control of the motor, and output reverse braking torque to drive the motor to decelerate, so that the motor enters the second motion state. When the motor is running at high speed, the motor is stopped quickly through the motor brake and the motor output of a reverse braking torque that is large enough and will not cause serious damage to the motor.

[0105] In addition, during the emergency stop process, it is also necessary to monitor any abnormal conditions that occur, including:

[0106] Determine whether an abnormal situation occurs;

[0107] If an abnormal situation occurs, the output of the servo drive to the motor is cut off, and the motor is controlled to perform dynamic braking until the motor is in a stationary state.

[0108] While the emergency stop process is in progress, the main control monitors the shutdown process in real time to ensure that abnormal conditions during the shutdown process can be detected and handled, ensuring reliable shutdown.

[0109] This embodiment adopts the above scheme, specifically, the servo drive receives the instruction of the main control, and based on the instruction, outputs current to the motor through the cable; the motor generates a reverse braking torque based on the current, and drives the motor to decelerate through the reverse braking torque. When the motor is running at high speed, the robot stops quickly through the motor brake and the motor output of a reverse braking torque that is large enough and does not cause serious damage to the motor. The main control monitors the shutdown process in real time to ensure that abnormal conditions in the shutdown process can be detected and processed, and reliable shutdown is ensured.

[0110] In addition, an embodiment of the present invention further provides an equipment shutdown device, which is applied to an emergency shutdown system. The emergency shutdown system includes a controller and a motor. The controller includes a servo drive. The equipment shutdown device includes:

[0111] A response module, used for controlling the motor to perform a braking action in response to an emergency stop signal, and determining whether the motor is in a first motion state;

[0112] a deceleration module, for controlling the motor to decelerate the motor by outputting a reverse braking torque if the motor is in the first motion state, so as to make the motor enter the second motion state;

[0113] a maintaining module, when the motor is in the second motion state, for outputting a torque for maintaining the motor in the second motion state through the servo drive until the brake action is completed;

[0114] The braking module is used to cut off the output of the servo drive to the motor when the braking action is completed, and control the motor to perform dynamic braking until the motor is in a stationary state.

[0115] Reference Figure 4 , Figure 4 FIG. 1 is a schematic diagram of the structure of an emergency shutdown system in an embodiment of the present invention. Figure 4 As shown, the emergency stop system includes a controller 2, a robot body 5, a motor 6, a transmission mechanism 7, and a cable 8 connecting the controller 2 and the robot body 5, wherein the controller includes a main control 3 and a servo drive 4.

[0116] The main control 3 is used to respond to the user's emergency stop signal and trigger an emergency stop when detecting an abnormal system state, and control the robot to complete the shutdown according to the method proposed in the embodiment of the present invention.

[0117] Servo drive 4 receives the instruction from main control 3 and controls motor 6 by outputting current through cable 8, so that reverse braking torque of motor 6 drives transmission mechanism 7 to decelerate. At the same time, servo drive 4 controls the brake action of motor 6 to lock the robot and ensure that the equipment remains stationary after emergency stop.

[0118] Reference Figure 5 , Figure 5 FIG. 1 is a schematic diagram of the overall process of emergency shutdown in an embodiment of the present invention, as shown in FIG. Figure 5 As shown, the following steps are included:

[0119] Step 1: The user triggers an emergency stop or a system failure occurs.

[0120] Step 2: The servo drive 4 immediately controls the brake of the motor 6 to merge, providing a reverse braking torque to decelerate the transmission mechanism 7.

[0121] Step 3, determine whether the robot body 5 is in the first motion state; if it is in the first motion state, execute step 4, otherwise execute step 7.

[0122] Step 4: The main control 3 controls the servo drive 4 to output reverse braking torque and monitors the emergency stop process at the same time.

[0123] Step 5, determine whether the robot body 5 has completed deceleration; if completed, execute step 7, otherwise execute step 6.

[0124] Step 6: Determine whether an abnormal situation occurs during the emergency stop process; if an abnormal situation occurs, execute step 10; otherwise, execute step 4.

[0125] Step 7, the main control 3 controls the servo drive 4 to output a torque to maintain the current state of the robot, so that the robot remains stationary;

[0126] Step 8, waiting for the brake closing action of motor 6 to be delayed and actually complete the action;

[0127] Step 9: Determine whether the actual brake action is completed; if completed, execute step 18; otherwise, execute step 16.

[0128] Step 10, the main control 3 controls the servo drive 4 to cut off the output to the motor 6 and short-circuit the three phases of the motor 6 through the relay to perform dynamic braking.

[0129] Step 11, determine whether dynamic braking is effective; if effective, execute step 20, otherwise execute step 10;

[0130] Step 12: Determine whether the robot body 5 is in a completely stationary state; if so, execute step 13; otherwise, execute step 11.

[0131] Step 13, end.

[0132] This embodiment uses the above scheme, specifically, by immediately controlling the brake of the motor 6 through the servo drive 4, providing a reverse braking torque to decelerate the transmission mechanism 7, and controlling the servo drive 4 to output a reverse braking torque through the main control 3, while monitoring the emergency stop process. When the robot body 5 is running at high speed, the robot is stopped quickly by the brake of the motor 6 and the motor 6 outputting a sufficiently large reverse braking torque that will not cause serious damage to the robot body 5. At the same time, the main control 2 monitors the shutdown process in real time to ensure that abnormal conditions during the shutdown process can be detected and processed, and to ensure reliable shutdown. When the brake of the motor 6 has not completed the action, the motor outputs a holding torque to keep the robot body 5 stationary, avoiding the risk of falling and collision that is easy to occur when the robot is shut down in an emergency under gravity, and ensuring that the robot is completely stationary.

[0133] In addition, an embodiment of the present invention also proposes a terminal device, which includes a memory, a processor, and a device shutdown program stored in the memory and executable on the processor, wherein the device shutdown program implements the steps of the device shutdown method described above when executed by the processor.

[0134] Since all the technical solutions of all the aforementioned embodiments are adopted when the shutdown program of the device is executed by the processor, it has at least all the beneficial effects brought by all the technical solutions of all the aforementioned embodiments, which will not be described one by one here.

[0135] In addition, an embodiment of the present invention further provides a computer-readable storage medium, on which a device shutdown program is stored. When the device shutdown program is executed by a processor, the steps of the device shutdown method described above are implemented.

[0136] Since all the technical solutions of all the aforementioned embodiments are adopted when the shutdown program of the device is executed by the processor, it has at least all the beneficial effects brought by all the technical solutions of all the aforementioned embodiments, which will not be described one by one here.

[0137] Compared with the prior art, the equipment shutdown method, device, terminal device and storage medium proposed in the embodiment of the present invention are applied to an emergency shutdown system. The emergency shutdown system includes a controller and a motor. The controller includes a servo drive. By responding to an emergency shutdown signal, the motor is controlled to perform a brake action and judge whether the motor is in a first motion state; if the motor is in the first motion state, the motor is controlled to output a reverse braking torque to drive the motor to decelerate so that the motor enters a second motion state; when the motor is in the second motion state, the servo drive outputs a torque to maintain the motor in the second motion state until the brake action is completed; the servo drive output to the motor is cut off, and the motor is controlled to perform dynamic braking until the motor is in a stationary state. The motor can be decelerated quickly by the brake and reverse braking torque. Before the brake action is completed, the device is kept in a stationary state by the output torque, thereby improving the safety performance of the device and achieving fast and reliable shutdown. It adapts to the scene requirements of the application of equipment such as robots, and in special industries, such as the lithium battery industry, it greatly reduces the risk of user life and property safety.

[0138] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0139] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0140] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as above, and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, a controlled terminal, or a network device, etc.) to execute the method of each embodiment of the present application.

[0141] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for stopping equipment, characterized in that: The equipment shutdown method is applied to an emergency shutdown system, the emergency shutdown system includes a controller and a motor, the controller includes a main control and a servo drive, the emergency shutdown system also includes a relay, and the equipment shutdown method includes the following steps: In response to an emergency stop signal, controlling the motor to perform a braking action through the servo drive, and determining whether the motor is in a first motion state, wherein the first motion state includes a motion speed exceeding a first preset threshold; If the motor is in the first motion state, the servo drive receives the instruction of the master control, and based on the instruction, outputs current to the motor through the cable, controls the motor to output a reverse braking torque through the current, and drives the motor to decelerate through the reverse braking torque, so that the motor enters the second motion state; When the motor is in the second motion state, the servo drive outputs a torque that maintains the motor in the second motion state until the brake action is completed; The output of the servo drive to the motor is cut off, and the three phases of the motor are short-circuited through the relay to perform dynamic braking until the motor is in a stationary state.

2. The equipment shutdown method according to claim 1, characterized in that: The step of responding to the emergency stop signal also includes: generating the emergency stop signal in response to an emergency stop command triggered by a user; and / or, The emergency stop signal is generated according to the detected fault caused by the emergency stop system.

3. The equipment shutdown method according to claim 1, characterized in that: After the step of controlling the motor to output a reverse braking torque to drive the motor to decelerate, the step further includes: Determining whether the motor has an abnormal condition; If an abnormal situation occurs, the output of the servo drive to the motor is cut off, and the motor is controlled to perform dynamic braking until the motor is in a stationary state.

4. The equipment shutdown method according to claim 1, characterized in that: The step of short-circuiting the three phases of the motor by the relay to perform dynamic braking until the motor is in a stationary state comprises: determining whether the dynamic braking is effective; If the dynamic braking is not effective, the process returns to the step of short-circuiting the three phases of the motor through the relay to perform dynamic braking until the motor is in a stationary state, and then the dynamic braking is completed.

5. The equipment shutdown method according to any one of claims 1 to 4, characterized in that: The equipment shutdown method is applied to a robot.

6. An equipment shutdown device, characterized in that: The equipment shutdown device is applied to an emergency shutdown system, the emergency shutdown system includes a controller and a motor, the controller includes a main control and a servo drive, the emergency shutdown system also includes a relay, and the equipment shutdown device includes: A response module, configured to respond to an emergency stop signal, control the motor to perform a braking action through the servo drive, and determine whether the motor is in a first motion state, wherein the first motion state includes a motion speed exceeding a first preset threshold; A deceleration module, wherein if the motor is in the first motion state, the servo drive receives the instruction of the master control, and based on the instruction, outputs current to the motor through a cable, controls the motor to output a reverse braking torque through the current, and drives the motor to decelerate through the reverse braking torque, so that the motor enters the second motion state; a maintaining module, when the motor is in the second motion state, for outputting a torque for maintaining the motor in the second motion state through the servo drive until the brake action is completed; The brake module is used to cut off the output of the servo drive to the motor and to short-circuit the three phases of the motor through the relay to perform dynamic braking until the motor is in a stationary state.

7. A terminal device, characterized in that: The terminal device includes a memory, a processor, and a device shutdown program stored in the memory and executable on the processor. When the device shutdown program is executed by the processor, the steps of the device shutdown method according to any one of claims 1 to 5 are implemented.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a device shutdown program, and when the device shutdown program is executed by the processor, the steps of the device shutdown method according to any one of claims 1 to 5 are implemented.

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