Motor safety torque off device

Abstract

The application relates to a motor safety torque shutdown device. The motor safety torque shutdown device comprises a delay signal output circuit and a torque shutdown circuit. The delay signal output circuit is used for inputting a safety torque shutdown trigger signal and sending a shutdown enable signal to the torque shutdown circuit according to the safety torque shutdown trigger signal. The torque shutdown circuit is used for shutting down a torque control signal of the motor after receiving the shutdown enable signal. The motor safety torque shutdown device delays the shutdown of the torque control signal of the motor after receiving the safety torque shutdown trigger signal, so as to provide a certain shutdown buffer time, facilitate the execution of a buffer action, realize the shutdown of the motor safety torque under the condition that a gate driver power supply is not turned off, reduce the damage to devices, prolong the service life of the devices, and further guarantee the normal use of an STO function.

Description

Technical Field

[0001] This application relates to the field of electronic circuit technology, and in particular to a motor safety torque shut-off device. Background Technology

[0002] With the continuous development of society, collaborative robots have become an important part of daily factory production. In some cases, for maintenance or other operational purposes, it is necessary to temporarily shut off the robot motor torque and disengage the brake. To prevent accidental robot startup that could cause personal injury and equipment damage, it is necessary to reliably shut off the drive's output torque to meet safety requirements. STO (Safe Torque Off) is such a safety function.

[0003] The STO (Stop-to-Torque) function of collaborative robots requires braking and deceleration, followed by brake disengagement, before performing the torque cut-off operation. Existing drivers typically cut off the power supply to the gate driver circuit of the inverter circuit via a switching device when the STO function is activated. This prevents the inverter circuit from generating output torque for the motor. However, directly cutting off the power supply to the gate driver circuit can easily damage the components, reduce their lifespan, and thus compromise the normal operation of the STO function. Summary of the Invention

[0004] Therefore, it is necessary to provide a motor safety torque shut-off device to address the above-mentioned problems.

[0005] A motor safety torque cutoff device includes: a delay signal output circuit and a torque cutoff circuit, wherein the delay signal output circuit is connected to the torque cutoff circuit, and wherein...

[0006] The delay signal output circuit is used to receive the safety torque turn-off trigger signal and sends the cut-off enable signal to the torque cut-off circuit after a delay based on the safety torque turn-off trigger signal.

[0007] The torque cut-off circuit is used to cut off the torque control signal of the motor after receiving the cut-off enable signal.

[0008] In one embodiment, the motor safety torque shutdown device further includes a signal conversion circuit connected to the delay signal output circuit. The signal conversion circuit receives the safety torque shutdown signal, generates a safety torque shutdown trigger signal based on the safety torque shutdown signal, and sends it to the delay signal output circuit.

[0009] In one embodiment, the motor safety torque shut-off device further includes a time-delay signal output circuit.

[0010] The zero-delay signal output circuit is used to receive the safety torque shutdown trigger signal and generate a torque shutdown preprocessing signal based on the safety torque shutdown trigger signal; the torque shutdown preprocessing signal is used to control the motor to perform shutdown preprocessing.

[0011] In one embodiment, the signal conversion circuit includes a first diode, a first resistor, an optocoupler, and a first capacitor.

[0012] The cathode of the first diode is used to receive the safety torque turn-off signal. The anode of the first diode is connected to the first terminal of the first resistor. The second terminal of the first resistor is connected to the first terminal of the input side of the optocoupler. The second terminal of the input side of the optocoupler is used to ground. The first terminal of the output side of the optocoupler is connected to the delay signal output circuit. The second terminal of the output side of the optocoupler is grounded through the first capacitor and is used to receive the power signal.

[0013] In one embodiment, the delay signal output circuit includes a first delay signal output circuit and a second delay signal output circuit, both of which are connected to a torque cutoff circuit.

[0014] The first delayed signal output circuit is used to receive the first safe torque turn-off trigger signal and send the first cut-off enable signal to the torque cut-off circuit after a delay according to the first safe torque turn-off trigger signal.

[0015] The second delay signal output circuit is used to receive the second safe torque turn-off trigger signal, and sends the second cut-off enable signal to the torque cut-off circuit after a delay according to the second safe torque turn-off trigger signal.

[0016] The torque cut-off circuit is used to cut off the torque control signal of the motor after receiving a first cut-off enable signal and / or a second switching enable signal.

[0017] In one embodiment, the delay signal output circuit includes a working control unit and a delay unit; the working control unit is connected to the delay unit, and the delay unit is connected to the torque cutoff circuit.

[0018] When the safety torque shutdown trigger signal is received, the work control unit is in the off state;

[0019] The delay unit is used to send a cut-off enable signal to the torque cut-off circuit after a delay based on the safety torque cut-off trigger signal when the working control unit is in the off state.

[0020] In one embodiment, the operating control unit includes a second resistor, a second capacitor, a third resistor, a switching transistor, and a fourth resistor.

[0021] The first end of the second resistor is used to connect to the safety torque turn-off trigger signal, and the second end of the second resistor is connected to the control terminal of the switching transistor; the first end of the second capacitor is connected to the control terminal of the switching transistor, and the second end of the second capacitor is connected to the second terminal of the switching transistor; the first end of the third resistor is connected to the control terminal of the switching transistor, and the second end of the third resistor is connected to the second terminal of the switching transistor; the first terminal of the switching transistor is connected to the first end of the fourth resistor, and the second terminal of the switching transistor is used for grounding; the second terminal of the fourth resistor is connected to the delay unit.

[0022] In one embodiment, the delay unit includes a fifth resistor, a third capacitor, and a second diode.

[0023] The first terminal of the fifth resistor, the anode of the second diode, and the first terminal of the third capacitor are all connected to the torque cutoff circuit and the working control unit. The second terminal of the third capacitor is used for grounding. The cathode of the second diode is connected to the second terminal of the fifth resistor, and the second terminal of the fifth resistor is used to connect to the power signal.

[0024] In one embodiment, the torque cutoff circuit includes a first buffer and a second buffer. The signal input terminals of both the first and second buffers are connected to a delayed signal output circuit, the signal output terminal of the first buffer is connected to the signal input terminal of the second buffer, and the signal output terminal of the second buffer is connected to the motor.

[0025] The signal input terminal of the first buffer is used to connect to the torque control signal of the motor. After receiving the cut-off enable signal, the first buffer and the second buffer cut off the torque control signal of the motor.

[0026] In one embodiment, the torque cutoff circuit includes a first torque cutoff circuit and a second torque cutoff circuit, which are used to drive different motors respectively.

[0027] The aforementioned motor safety torque shutdown device includes a delayed signal output circuit and a torque cutoff circuit. The delayed signal output circuit receives the safety torque shutdown trigger signal and, based on the trigger signal, sends a cutoff enable signal to the torque cutoff circuit after a delay. The torque cutoff circuit, upon receiving the cutoff enable signal, cuts off the motor's torque control signal. This motor safety torque shutdown device, upon receiving the safety torque shutdown trigger signal, delays the cutoff of the motor's torque control signal to provide a certain cutoff buffer time, facilitating the execution of the buffer action. Furthermore, it can achieve motor safety torque shutdown without shutting down the gate driver power supply. This reduces damage to the device, extends its lifespan, and further ensures the normal operation of the STO function. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0029] Figure 1 This is a schematic diagram of the motor safety torque shut-off device in one embodiment;

[0030] Figure 2 This is a schematic diagram of the motor safety torque shut-off device in another embodiment;

[0031] Figure 3 This is a schematic diagram of the motor safety torque shut-off device in another embodiment;

[0032] Figure 4 This is a schematic diagram of the motor safety torque shut-off device in another embodiment;

[0033] Figure 5 This is a schematic diagram of the motor safety torque shut-off device in another embodiment;

[0034] Figure 6 This is a schematic diagram of the torque cutoff circuit structure in one embodiment;

[0035] Figure 7 This is a schematic diagram of the torque cutoff circuit structure in another embodiment;

[0036] Figure 8 This is a schematic diagram of the pull-down resistor connection for the first buffer in one embodiment;

[0037] Figure 9 This is a schematic diagram of the pull-down resistor connection for the second buffer in one embodiment;

[0038] Figure 10 This is a schematic diagram of the pull-down resistor connection for the third buffer in one embodiment;

[0039] Figure 11 This is a schematic diagram of the pull-down resistor connection for the fourth buffer in one embodiment;

[0040] Figure 12 This is a schematic diagram of the structure of the first interface circuit in one embodiment;

[0041] Figure 13 This is a schematic diagram of the structure of the second interface circuit in one embodiment. Detailed Implementation

[0042] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings, which illustrate embodiments of the present application. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of this application will be thorough and complete.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.

[0044] It is understood that the terms "first," "second," etc., used herein may be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another. For example, without departing from the scope of this application, a first resistor may be referred to as a second resistor, and similarly, a second resistor may be referred to as a first resistor. Both the first resistor and the second resistor are resistors, but they are not the same resistor.

[0045] It is understood that the term "connection" in the following embodiments should be understood as "electrical connection," "communication connection," etc., if the connected circuits, circuits, units, etc., have electrical signal or data transmission between them.

[0046] The motor safety torque shutdown device in the following embodiments can be connected to the robot's controller and the robot's motor, and is used to realize the robot's STO (Safe Torque Off) function. The robot can be a collaborative robot.

[0047] In one embodiment, such as Figure 1 As shown, the motor safety torque cutoff device includes a time-delay signal output circuit 100 and a torque cutoff circuit 200. The time-delay signal output circuit 100 is connected to the torque cutoff circuit 200.

[0048] The delayed signal output circuit 100 is used to receive the safety torque shutdown trigger signal and, based on the safety torque shutdown trigger signal, sends a cut-off enable signal to the torque cut-off circuit 200 after a delay. The safety torque shutdown trigger signal can be issued by the robot's controller. For example, after receiving an emergency stop signal, the robot's controller can send the safety torque shutdown trigger signal to the delayed signal output circuit 100 to activate the STO function. Specifically, the safety torque shutdown trigger signal can control the operation of the delayed signal output circuit 100. When the delayed signal output circuit 100 is operating, it generates a cut-off enable signal and transmits it to the torque cut-off circuit 200 after the robot's motor completes braking deceleration and brake closure operations. The delayed signal output circuit 100 provides a certain buffer time for the robot's motor to complete braking deceleration and brake closure operations.

[0049] Upon receiving the cut-off enable signal, the torque cut-off circuit 200 cuts off the motor torque control signal. This motor torque control signal can be generated by the robot's controller and used to control the robot's motor operation. Specifically, for example... Figure 2 As shown, the motor may include a motor body and an inverter circuit. The first terminal of the torque cutoff circuit 200 can be connected to a controller, the second terminal can be connected to the first terminal of the inverter circuit, and the third terminal can be connected to the delay signal output circuit 100. The second terminal of the inverter circuit can be connected to the motor body. The motor's torque control signal is transmitted to the inverter circuit through the torque cutoff circuit 200. The inverter circuit generates the motor torque based on the motor's torque control signal to control the motor's operation. When the torque cutoff circuit 200 cuts off the motor's torque control signal, the inverter circuit cannot generate the motor torque, thus achieving safe torque shutdown of the motor.

[0050] Furthermore, to meet the debugging requirements of the motor safety torque cutoff device, both the delay signal output circuit 100 and the torque cutoff circuit 200 can be connected to a debugging signal. The debugging signal can directly enable the delay signal output circuit 100 and the torque cutoff circuit 200 to debug them.

[0051] In this embodiment, the motor safety torque shutdown device includes a delay signal output circuit 100 and a torque cutoff circuit 200. The delay signal output circuit 100 receives the safety torque shutdown trigger signal and, based on the trigger signal, sends a cutoff enable signal to the torque cutoff circuit 200 after a delay. The torque cutoff circuit 200, upon receiving the cutoff enable signal, cuts off the motor's torque control signal. This motor safety torque shutdown device, upon receiving the safety torque shutdown trigger signal, delays the cutoff of the motor's torque control signal to provide a certain cutoff buffer time, facilitating buffering actions. For example, when the motor is a robot motor, the buffering action can be braking deceleration and brake disengagement. Furthermore, safety torque shutdown can be achieved without shutting down the gate driver power supply. This reduces damage to the device, increases its lifespan, and further ensures the normal operation of the STO function.

[0052] In one embodiment, such as Figure 3 As shown, the motor safety torque shutdown device also includes a signal conversion circuit 300 connected to the delay signal output circuit 100. The signal conversion circuit 300 is used to receive the safety torque shutdown signal, generate a safety torque shutdown trigger signal based on the safety torque shutdown signal, and send it to the delay signal output circuit 100.

[0053] The robot operates normally when the safety torque shutdown signal is high. The signal conversion circuit 300 converts the safety torque shutdown signal into a voltage signal that the delay signal output circuit 100 can withstand, ensuring the normal operation of the delay signal output circuit 100. For example, when the voltage value of the safety torque shutdown signal is 24V, the signal conversion circuit 300 can convert the 24V safety torque shutdown signal into a 3.3V safety torque shutdown signal, making the input voltage of the delay signal output circuit 100 3.3V, preventing damage to the components of the delay signal output circuit 100 due to excessively high input voltage. Both the 24V and 3.3V safety torque shutdown signals can be high-level signals.

[0054] When the safe torque shutdown signal is low, the robot's STO function is activated. The signal conversion circuit 300 generates a safe torque shutdown trigger signal and sends it to the delay signal output circuit 100. The voltage value of the safe torque shutdown trigger signal can be 0V. After receiving the safe torque shutdown trigger signal, the delay signal output circuit 100 sends a cut-off enable signal to the torque cut-off circuit 200 after a delay, based on the safe torque shutdown trigger signal. Upon receiving the cut-off enable signal, the torque cut-off circuit 200 cuts off the motor's torque control signal.

[0055] In this embodiment, the motor safety torque shutdown device also includes a signal conversion circuit 300 connected to the delay signal output circuit 100. The signal conversion circuit 300 converts the safety torque shutdown signal into a voltage signal that the delay signal output circuit 100 can withstand, ensuring the normal operation of the delay signal output circuit 100. The signal conversion circuit 300 can also generate a safety torque shutdown trigger signal and send it to the delay signal output circuit 100 when the robot's STO function is triggered, ensuring the normal operation of the STO function.

[0056] In one embodiment, such as Figure 3 As shown, the motor safety torque shutdown device also includes a time-delay signal output circuit 400. The time-delay signal output circuit 400 is used to receive the safety torque shutdown trigger signal and generate a torque shutdown preprocessing signal based on the safety torque shutdown trigger signal. The torque shutdown preprocessing signal is used to control the motor to perform shutdown preprocessing.

[0057] Specifically, when the no-delay signal output circuit 400 receives a safe torque shutdown trigger signal, it can generate a torque shutdown preprocessing signal. When the no-delay signal output circuit 400 does not receive a safe torque shutdown trigger signal, it will not generate a torque shutdown preprocessing signal.

[0058] Specifically, the time-delay signal output circuit 400 can send a torque shutdown preprocessing signal to the controller. Upon receiving the torque shutdown preprocessing signal, the controller controls the motor to perform shutdown preprocessing. This shutdown preprocessing includes controlling the motor to brake and decelerate, and disengaging the holding brake. After the motor completes the shutdown preprocessing, the time-delay signal output circuit 100 can transmit a cut-off enable signal to the torque cut-off circuit 200. Upon receiving the cut-off enable signal, the torque cut-off circuit 200 cuts off the motor's torque control signal to achieve safe torque shutdown of the motor.

[0059] Additionally, when the motor safety torque shutdown device also includes a signal conversion circuit 300, the time-delay-free signal output circuit 400 can be connected to the signal conversion circuit 300. The signal conversion circuit 300 can convert the safety torque shutdown signal into a voltage signal that the time-delay-free signal output circuit 400 can withstand, thus ensuring the normal operation of the time-delay-free signal output circuit 400. The signal conversion circuit 300 can also generate a safety torque shutdown trigger signal and send it to the time-delay-free signal output circuit 400 when the robot's STO function is activated.

[0060] In this embodiment, the motor safety torque shutdown device further includes a time-delay signal output circuit 100. The time-delay signal output circuit 100 is used to receive the safety torque shutdown trigger signal and generate a torque shutdown preprocessing signal based on the safety torque shutdown trigger signal to control the motor to perform shutdown preprocessing. This ensures that the subsequent motor safety torque is successfully cut off, thereby realizing the robot's STO (Safety Tolerance) function.

[0061] In one embodiment, such as Figure 4 As shown, the signal conversion circuit 300 includes a first diode D1, a first resistor R6, a first optocoupler U9, and a first capacitor C11. The cathode of the first diode D1 is used to receive a safety torque turn-off signal, the anode of the first diode D1 is connected to the first terminal of the first resistor R6, the second terminal of the first resistor R6 is connected to the first terminal of the input side of the first optocoupler U9, the second terminal of the input side of the first optocoupler U9 is used to ground, the first terminal of the output side of the first optocoupler U9 is connected to the delay signal output circuit 100, and the second terminal of the output side of the first optocoupler U9 is grounded through the first capacitor C11 and used to receive a power signal.

[0062] The first diode D1 and the first resistor R6 are used to reduce the voltage difference at the input side of the first optocoupler U9, preventing it from burning out. Specifically, the robot operates normally when the safety torque shutdown signal is high. The safety torque shutdown signal can be transmitted to the first terminal of the input side of the first optocoupler U9 via the first diode D1 and the first resistor R6. At this time, there is a voltage difference between the first and second terminals of the input side of the first optocoupler U9, and the phototransistor in the first optocoupler U9 is turned on, i.e., the first optocoupler U9 is turned on. When the first optocoupler U9 is turned on, it can perform signal conversion. For example, it can convert the 24V safety torque shutdown signal into a 3.3V safety torque shutdown signal. The converted signal can be transmitted to the delay signal output circuit 100 through the first terminal of the output side of the first optocoupler U9 to ensure the normal operation of the delay signal output circuit 100 and prevent circuit damage.

[0063] When the safety torque shutdown signal is low, the robot's STO function is activated. For example, it can be a 0V safety torque shutdown signal. At this time, the voltage difference between the first and second terminals of the first optocoupler U9 input side is close to zero, and the phototransistor in the first optocoupler U9 is cut off, i.e., the first optocoupler U9 is off. When the first optocoupler U9 is off, the first and second terminals of the first optocoupler U9 output side are essentially open-circuited. The first terminal of the first optocoupler U9 output side outputs a safety torque shutdown trigger signal with a voltage value of 0V and sends it to the delay signal output circuit 100. After receiving the safety torque shutdown trigger signal, the delay signal output circuit 100 can generate a cut-off enable signal and send it to the torque cut-off circuit 200 after a delay. After receiving the cut-off enable signal, the torque cut-off circuit 200 cuts off the motor torque control signal.

[0064] Furthermore, when the motor safety torque shutdown device also includes a time-delay signal output circuit 100, the first terminal of the output side of the first optocoupler U9 can also be connected to the time-delay signal output circuit 400, and the converted signal can also be transmitted to the time-delay signal output circuit 400 through the first terminal of the output side of the first optocoupler U9. This also ensures the normal operation of the time-delay signal output circuit 400. Moreover, when the robot's STO function is activated, the safety torque shutdown trigger signal can also be transmitted to the time-delay signal output circuit 400 through the first terminal of the output side of the first optocoupler U9. The time-delay signal output circuit 400 then generates a torque shutdown preprocessing signal based on the safety torque shutdown trigger signal.

[0065] The second terminal of the output side of the first optocoupler U9 is grounded through the first capacitor C11 and used to connect to the power signal. This provides sufficient current when the first optocoupler U9 is turned on to ensure normal voltage in the subsequent circuit. The subsequent circuit can be the aforementioned delayed signal output circuit 100 and the non-delayed signal output circuit 400. Furthermore, the first capacitor C11 can be a filter capacitor to improve the transmission quality of the power signal.

[0066] In this embodiment, the signal conversion circuit 300 includes a first diode D1, a first resistor R6, a first optocoupler U9, and a first capacitor C11. When the robot is running normally, the first optocoupler U9 is turned on, enabling signal conversion and ensuring normal voltage in the subsequent circuits. When the robot's STO function is activated, the first optocoupler U9 is turned off, generating a safety torque shutdown trigger signal, which is sent to the delayed signal output circuit 100 and the non-delayed signal output circuit 400 to ensure the normal operation of the STO function.

[0067] In one embodiment, reference Figure 4 and Figure 5 The delay signal output circuit 100 includes a first delay signal output circuit and a second delay signal output circuit. Both the first delay signal output circuit and the second delay signal output circuit are connected to the torque cutoff circuit 200.

[0068] The first delayed signal output circuit is used to receive the first safe torque shutdown trigger signal, and sends a first cut-off enable signal to the torque cut-off circuit 200 after a delay based on the first safe torque shutdown trigger signal. The second delayed signal output circuit is used to receive the second safe torque shutdown trigger signal, and sends a second cut-off enable signal to the torque cut-off circuit 200 after a delay based on the second safe torque shutdown trigger signal. The structures of the first and second delayed signal output circuits can be identical. The first safe torque shutdown trigger signal can control the operation of the first delayed signal output circuit. When the first delayed signal output circuit is operating, it generates the first cut-off enable signal. The second safe torque shutdown trigger signal can control the operation of the second delayed signal output circuit. When the second delayed signal output circuit is operating, it generates the second cut-off enable signal. After receiving the first cut-off enable signal and / or the second switching enable signal, the torque cut-off circuit 200 cuts off the motor torque control signal.

[0069] Correspondingly, refer to Figure 4 and Figure 5 The signal conversion circuit 300 may include a first signal conversion circuit and a second signal conversion circuit, and the no-delay signal output circuit 400 may include a first no-delay signal output circuit and a second no-delay signal output circuit. Both the first delayed signal output circuit and the first no-delay signal output circuit can be connected to the first signal conversion circuit, and both the second delayed signal output circuit and the second no-delay signal output circuit can be connected to the second signal conversion circuit. The first signal conversion circuit receives a first safe torque turn-off signal, generates a first safe torque turn-off trigger signal based on the first safe torque turn-off signal, and sends it to the first delayed signal output circuit and the first no-delay signal output circuit. The second signal conversion circuit receives a second safe torque turn-off signal, generates a second safe torque turn-off trigger signal based on the second safe torque turn-off signal, and sends it to the second delayed signal output circuit and the second no-delay signal output circuit. Specifically, after receiving the first safe torque turn-off trigger signal, the first no-delay signal output circuit generates a first torque turn-off preprocessing signal and sends it to the controller; after receiving the second safe torque turn-off trigger signal, the second no-delay signal output circuit generates a second torque turn-off preprocessing signal and sends it to the controller. After receiving the first torque shutdown preprocessing signal and / or the second torque shutdown preprocessing signal, the controller controls the motor to perform shutdown preprocessing.

[0070] In this embodiment, the delay signal output circuit 100 includes a first delay signal output circuit and a second delay signal output circuit, both of which are connected to the torque cutoff circuit 200, realizing the redundant design of the delay signal output circuit 100 and further ensuring the normal use of the robot's STO function.

[0071] In one embodiment, such as Figure 4 As shown, the delay signal output circuit 100 includes a working control unit 110 and a delay unit 120. The working control unit 110 is connected to the delay unit 120, and the delay unit 120 is connected to the torque cutoff circuit 200.

[0072] Specifically, when the robot's STO function is activated, the work control unit 110 receives the safety torque shutdown trigger signal and is in the off state. When the work control unit 110 is in the off state, the delay unit 120 operates. The delay unit 120 can delay sending the cut-off enable signal to the torque cut-off circuit 200. It can be understood that delayed sending means that after the motor completes the shutdown preprocessing, the delay unit 120 sends the cut-off enable signal to the torque cut-off circuit 200, and then the torque cut-off circuit 200 cuts off the motor's safety torque by cutting off the motor's torque control signal. When the robot is running normally, the work control unit 110 does not receive the safety torque shutdown trigger signal and is in the on state. At this time, the delay unit 120 does not operate, and the motor's torque control signal is transmitted normally through the torque cut-off circuit 200.

[0073] In this embodiment, the delay signal output circuit 100 includes a work control unit 110 and a delay unit 120. The work control unit 110 is in a cut-off state when a safety torque cut-off trigger signal is received. The delay unit 120 is used to send a cut-off enable signal to the torque cut-off circuit 200 after a delay, based on the safety torque cut-off trigger signal, when the work control unit is in the cut-off state. This ensures the normal operation of the robot's STO function and improves operational reliability.

[0074] In one embodiment, such as Figure 4 As shown, the working control unit 110 includes a second resistor R2, a second capacitor C5, a third resistor R4, a first switch U6, and a fourth resistor R31. The first end of the second resistor R2 is used to receive a safety torque shutdown trigger signal, and the second end of the second resistor R2 is connected to the control terminal of the first switch U6; the first end of the second capacitor C5 is connected to the control terminal of the first switch U6, and the second end of the second capacitor C5 is connected to the second terminal of the first switch U6; the first end of the third resistor R4 is connected to the control terminal of the first switch U6, and the second end of the third resistor R4 is connected to the second terminal of the first switch U6; the first end of the first switch U6 is connected to the first end of the fourth resistor R31, and the second end of the first switch U6 is grounded; the second end of the fourth resistor R31 is connected to the delay unit 120.

[0075] Specifically, when the robot is operating normally, the control terminal of the first switch U6 is not connected to the safety torque shutdown trigger signal and is in the ON state. When the robot's STO function is activated, the safety torque shutdown trigger signal reaches the control terminal of the first switch U6 via the second resistor R2, controlling the first switch U6 to turn off. The second resistor R2 can be a current-limiting resistor to prevent the first switch U6 from burning out. The second capacitor C5 can be a filter capacitor used to filter the input signal and improve signal transmission quality. The third resistor R4 ensures that the first switch U6 is reliably turned off when the safety torque shutdown trigger signal is connected. The fourth resistor R31 can also be a current-limiting resistor to prevent the subsequent circuitry from burning out.

[0076] In this embodiment, the work control unit 110 includes a second resistor R2, a second capacitor C5, a third resistor R4, a first switch U6, and a fourth resistor R31, which can ensure the normal use of the robot's STO function.

[0077] In one embodiment, such as Figure 4 As shown, the delay unit 120 includes a fifth resistor R1, a third capacitor C3, and a second diode D5. The first end of the fifth resistor R1, the anode of the second diode D5, and the first end of the third capacitor C3 are all connected to the torque cutoff circuit 200 and the working control unit 110. The second end of the third capacitor C3 is used for grounding. The cathode of the second diode D5 is connected to the second end of the fifth resistor R1, and the second end of the fifth resistor R1 is used to connect to the power signal.

[0078] The power signal connected to the second terminal of the fifth resistor R1 can be the same as or different from the power signal connected to the second terminal of the optocoupler output side in the above embodiment.

[0079] Specifically, when the robot is operating normally, the work control unit 110 is turned on. At this time, the charge of the third capacitor C3 is rapidly released through the work control unit 110, causing the output voltage of the first terminal of the third capacitor C3 to quickly drop to a low level. Meanwhile, the torque cutoff circuit 200 normally transmits the motor torque control signal. When the robot's STO function is activated, the work control unit 110 is turned off. When the work control unit 110 is turned off, the RC circuit formed by the third capacitor C3 and the fifth resistor R1 slowly charges until it reaches the high-level threshold of the torque cutoff circuit 200. When the output voltage of the first terminal of the third capacitor C3 reaches the high-level threshold of the torque cutoff circuit 200, the output voltage of the first terminal of the third capacitor C3 is a high-level signal. This high-level signal can be understood as a cutoff enable signal. The cutoff enable signal can control the torque cutoff circuit 200 to enter a high-impedance state. When the torque cutoff circuit 200 is in a high-impedance state, it cannot transmit the motor torque control signal, thus cutting off the motor torque control signal. The second diode D5 prevents the RC circuit from having no discharge path when power is lost, which could cause the input voltage of the torque cut-off circuit 200 to exceed the power supply voltage and damage the torque cut-off circuit 200.

[0080] Furthermore, since the capacitance of the third capacitor C3 and the resistance of the fifth resistor R1 are different, the charging time of the RC circuit is different, resulting in different delay transmission durations for the cut-off enable signal. Therefore, the delay transmission duration of the cut-off enable signal can be adjusted by selecting RC circuits with different parameters.

[0081] In this embodiment, the delay unit 120 includes a fifth resistor R1, a third capacitor C3, and a second diode D5. The RC circuit formed by the fifth resistor R1 and the third capacitor C3 allows control over the delay duration of the cut-off enable signal by adjusting the values ​​of the fifth resistor R1 and the third capacitor C3. This improves operational reliability while ensuring the normal operation of the robot's STO function, further meeting the requirements of application scenarios with high delay time requirements for motor safety torque shutdown.

[0082] In one embodiment, such as Figure 5 As shown, the torque cutting-off circuit 200 includes a first buffer U1 and a second buffer U2. The signal input terminals of the first buffer U1 and the second buffer U2 are both connected to the delay signal output circuit 100. The signal output terminal of the first buffer U1 is connected to the signal input terminal of the second buffer U2, and the signal output terminal of the second buffer U2 is connected to the motor.

[0083] The signal input terminal of the first buffer U1 is used to receive the torque control signal of the motor. The torque control signal of the motor can be transmitted to the signal input terminal of the second buffer U2 through the signal output terminal of the first buffer U1, and then sent to the motor through the signal output terminal of the second buffer U2. Specifically, it can be sent to the inverter circuit of the motor, and the inverter circuit then drives the motor to work according to the torque control signal of the motor.

[0084] In addition, when the motor safety torque shutdown device also includes a no-delay signal output circuit 400, the no-delay signal output circuit 400 can generate a torque shutdown preprocessing signal based on the safety torque shutdown trigger signal and send it to the controller. After receiving the torque shutdown preprocessing signal, the controller generates a torque shutdown preprocessing control signal. The signal input terminal of the first buffer U1 is also used to receive the torque shutdown preprocessing control signal. The torque shutdown preprocessing control signal is transmitted to the inverter circuit through the first buffer U1 and the second buffer U2. After receiving the torque shutdown preprocessing control signal, the inverter circuit controls the motor to perform shutdown preprocessing. Specifically, the shutdown preprocessing includes motor braking deceleration and disengaging the holding brake.

[0085] Specifically, when the robot is operating normally, the first buffer U1 and the second buffer U2 can transmit the motor torque control signal to the motor. When the robot's STO function is activated, the delayed signal output circuit 100 can send a cut-off enable signal to the first buffer U1 and the second buffer U2. After receiving the cut-off enable signal, both the first buffer U1 and the second buffer U2 are in a high-impedance state, cutting off the transmission of the motor torque control signal, thereby achieving safe torque shutdown of the motor.

[0086] When the delay signal output circuit 100 includes a first delay signal output circuit and a second delay signal output circuit, the first delay signal output circuit can send a first cut-off enable signal to the first buffer U1 and the second buffer U2 after a delay, and the second delay signal output circuit can send a second cut-off enable signal to the first buffer U1 and the second buffer U2 after a delay. When the first buffer U1 and the second buffer U2 receive the first cut-off enable signal and / or the second cut-off enable signal, both the first buffer U1 and the second buffer U2 become high-impedance, cutting off the transmission of the motor torque control signal.

[0087] Furthermore, to ensure that the input and output logic remains correct when the first buffer U1 and the second buffer U2 are powered on and when they enter a high-impedance state, such as... Figure 8 As shown, a 10K pull-down resistor can be connected to the signal input port of the first buffer U1 to prevent interference. Figure 9 As shown, a 10K pull-down resistor can also be connected to the signal output port of the second buffer U2 to prevent interference.

[0088] Optionally, to meet circuit debugging requirements, the signal input terminal of the first buffer U1 can also be used to connect a debugging signal. The debugging signal can directly enable the first buffer U1 and the second buffer U2, thereby enabling the debugging of the first buffer U1 and the second buffer U2.

[0089] In this embodiment, the torque cutoff circuit 200 includes a first buffer U1 and a second buffer U2. The signal input terminal of the first buffer U1 is used to receive the torque control signal of the motor, and the signal output terminal of the first buffer U1 is connected to the signal input terminal of the second buffer U2. The signal output terminal of the second buffer U2 is connected to the motor. After receiving the cutoff enable signal, the first buffer U1 and the second buffer U2 cut off the torque control signal of the motor, which can further improve the reliability of the motor's safe torque shutdown.

[0090] In one embodiment, reference Figure 6 and Figure 7 The torque cutoff circuit 200 includes a first torque cutoff circuit and a second torque cutoff circuit, which are used to drive different motors respectively.

[0091] The first torque cutoff circuit includes a first buffer U1 and a second buffer U2, and the second torque cutoff circuit includes a third buffer U3 and a fourth buffer U4. The signal output terminal of the second buffer U2 is used to connect to the first motor. The signal input terminal of the third buffer U3 is used to receive the motor's torque control signal. The signal output terminal of the third buffer U3 is connected to the signal input terminal of the fourth buffer U4. The signal input terminal of the fourth buffer U4 is used to receive the cutoff enable signal. The signal output terminal of the fourth buffer U4 is used to connect to the second motor. Additionally, as... Figure 10 As shown, a 10K pull-down resistor can be connected to the signal input terminal of the third buffer U3 to prevent interference. Figure 11 As shown, the signal input terminal of the fourth buffer U4 can also be connected to a 10K pull-down resistor to prevent interference. In particular, when the motor safety torque shutdown device also includes a no-delay signal output circuit 400, the signal output terminal of the third buffer U3 can also be connected to a torque shutdown preprocessing control signal.

[0092] Specifically, when the first buffer U1 and the second buffer U2 receive the cut-off enable signal, both the first buffer U1 and the second buffer U2 enter a high-impedance state, cutting off the transmission of the torque control signal of the first motor. When the third buffer U3 and the fourth buffer U4 receive the cut-off enable signal, both the third buffer U3 and the fourth buffer U4 enter a high-impedance state, cutting off the transmission of the torque control signal of the second motor.

[0093] It is understood that those skilled in the art can adjust the number of torque cutting circuits 200 according to the type and number of motors to meet the usage requirements of different application scenarios.

[0094] In this embodiment, the torque cutoff circuit 200 includes a first torque cutoff circuit and a second torque cutoff circuit. The first torque cutoff circuit and the second torque cutoff circuit are used to drive different motors respectively, which can improve the practicality of the motor safety torque cutoff device and reduce resource waste.

[0095] To better understand the technical solution of this application, a more detailed specific embodiment is provided below.

[0096] Based on the above embodiments, refer to Figures 4 to 7 A motor safety torque shutdown device is provided. This device includes a signal conversion circuit 300, a delayed signal output circuit 100, a non-delayed signal output circuit 400, and a torque cutoff circuit 200. The signal conversion circuit 300 includes a first signal conversion circuit and a second signal conversion circuit; the delayed signal output circuit 100 includes a first delayed signal output circuit and a second delayed signal output circuit; and the non-delayed signal output circuit 400 includes a first non-delayed signal output circuit and a second non-delayed signal output circuit. The safety torque shutdown signal includes a first safety torque shutdown signal STO1_IN and a second safety torque shutdown signal STO2_IN. The cutoff enable signal includes a first cutoff enable signal and a second cutoff enable signal. The torque shutdown preprocessing signal includes a first torque shutdown preprocessing signal STO1_IN-1 and a second torque shutdown preprocessing signal STO2_IN-1. The first delayed signal output circuit includes a first operating control unit and a first delay unit. The second delayed signal output circuit includes a second operating control unit and a second delay unit.

[0097] The first signal conversion circuit includes a first diode D1, a first resistor R6, a first optocoupler U9, and a first capacitor C11. Specifically, the first diode D1 can be a BZX84J-B6V8 Zener diode. The first resistor R6 has a resistance of 4.7KΩ, and the first capacitor C11 has a capacitance of 0.1uF. The first operating control unit includes a second resistor R2, a second capacitor C5, a third resistor R4, a first switching transistor U6, and a fourth resistor R31. The second resistor R2 has a resistance of 4.7KΩ, the second capacitor C5 has a capacitance of 0.1uF, the third resistor R4 has a resistance of 10KΩ, and the fourth resistor R31 has a resistance of 22Ω. The first switching transistor U6 can be a transistor. The control terminal, first terminal, and second terminal of the first switching transistor U6 correspond to the base, collector, and emitter of the transistor, respectively. The first delay unit includes a fifth resistor R1, a third capacitor C3, and a second diode D5. The fifth resistor R1 has a resistance of 10KΩ, and the third capacitor C3 has a capacitance of 10uF. The first no-delay signal output circuit includes buffer U5. Buffer U5 is actually an AND gate, and can specifically use the SN74AHC1G08 chip.

[0098] The cathode of the first diode D1 is used to receive the STO1_IN signal. The anode of the first diode D1 is connected to the first terminal of the first resistor R6, and the second terminal of the first resistor R6 is connected to pin 1 of the first optocoupler U9. Pin 2 of the first optocoupler U9 is used to receive the STO_RET signal. The STO_RET signal is connected to signal ground. Pin 3 of the first optocoupler U9 is connected to the first terminal of the second resistor R2, and pin 4 of the first optocoupler U9 is grounded through the first capacitor C11 and used to receive a 3.3V power supply signal. The second terminal of the second resistor R2 is connected to the control terminal of the first switch U6. A capacitor C5 and a resistor R4 are connected in parallel between the control terminal and the second terminal of the first switch U6. The second terminal of the first switch U6 is connected to signal ground. The first terminal of the first switch U6 is connected to the first terminal of the fourth resistor R31. The second terminal of the fourth resistor R31, the first terminal of the fifth resistor R1, and the anode of the second diode D5 are all connected to the first terminal of the third capacitor C3. The second terminal of the fifth resistor R1 is connected to the cathode of the second diode D5 and used to receive a 3.3V power supply signal. The first terminal of the third capacitor C3 is used to output the first cut-off enable signal HIGH_PWM_EN-1. The second terminal of the third capacitor C3 is connected to signal ground.

[0099] Pin 3 of the first optocoupler U9 is also used to connect to pin 2 of the buffer U5. Pin 1 of the buffer U5 is used to input a 3.3V power supply signal, pin 3 is used to connect to signal ground, pin 4 is used to output the first torque shutdown preprocessing signal STO1_IN-1, and pin 5 is used to input a 3.3V power supply signal and is grounded through capacitor C8. The capacitance of capacitor C8 is 0.1uF. The buffer U5 can ensure stable and reliable voltage levels. In particular, when the impedance of the subsequent circuit of the buffer U5 is small, resistor R29 can be used to replace the buffer U5 to provide a larger drive current. The resistance of resistor R29 is very small, close to 0Ω.

[0100] Additionally, during debugging, both the first terminal of the second resistor R2 and pin 2 of the buffer U5 can be connected to the first debugging signal FPGA_EN via diode D2. The first debugging signal FPGA_EN can be used to debug the first delayed signal output circuit and the first no-delay signal output circuit.

[0101] The second signal conversion circuit includes diode D3, resistor R5, optocoupler U7, and capacitor C10. Diode D3 can specifically be a BZX84J-B6V8 Zener diode, resistor R5 has a resistance of 4.7KΩ, and capacitor C10 has a capacitance of 0.1uF. The second operating control unit 110 includes resistor R7, capacitor C2, resistor R8, transistor U8, and resistor R32. Resistor R7 has a resistance of 4.7KΩ, capacitor C2 has a capacitance of 0.1uF, resistor R8 has a resistance of 10KΩ, and resistor R32 has a resistance of 22Ω. The second delay unit 120 includes resistor R9, capacitor C1, and diode D6. Resistor R9 has a resistance of 10KΩ, and capacitor C1 has a capacitance of 10uF. The second no-delay signal output circuit includes buffer U10. Buffer U10 is actually an AND gate, and can specifically use an SN74AHC1G08 chip.

[0102] The cathode of diode D3 is used to receive the STO2_IN signal. The anode of diode D3 is connected to the first terminal of resistor R5, and the second terminal of resistor R5 is connected to pin 1 of optocoupler U7. Pin 2 of optocoupler U7 is used to receive the STO_RET signal. The STO_RET signal is connected to signal ground. Pin 3 of optocoupler U7 is connected to the first terminal of resistor R7, and pin 4 of optocoupler U7 is grounded through capacitor C10 and used to receive a 3.3V power supply signal. The second terminal of resistor R7 is connected to the base of transistor U8. A capacitor C2 and a resistor R8 are connected in parallel between the base and emitter of transistor U8. The emitter of transistor U8 is connected to signal ground. The collector of transistor U8 is connected to the first terminal of resistor R32. The second terminal of resistor R32, the first terminal of resistor R9, and the anode of diode D6 are all connected to the first terminal of capacitor C1. The second terminal of resistor R9 is connected to the cathode of diode D6 and used to receive a 3.3V power supply signal. The first terminal of capacitor C1 is used to output the second cut-off enable signal LOW_PWM_EN-1. The second terminal of capacitor C1 is connected to signal ground.

[0103] Pin 3 of optocoupler U7 is also used to connect to pin 2 of buffer U10. Pin 1 of buffer U10 is used to input a 3.3V power supply signal, pin 3 is used to connect to signal ground, pin 4 is used to output the second torque turn-off preprocessing signal STO2_IN-1, and pin 5 is used to input a 3.3V power supply signal and grounded through capacitor C9. The capacitance of capacitor C9 is 0.1uF. Buffer U10 can ensure stable and reliable voltage levels. In particular, when the impedance of the subsequent circuit of buffer U10 is low, resistor R30 can be used to replace buffer U10 to provide a larger drive current. The resistance of resistor R30 is very small, close to 0Ω.

[0104] Additionally, during debugging, the first terminal of resistor R7 and pin 2 of buffer U10 can both be connected to the second debugging signal FPGA_EN1 via diode D4. The second debugging signal FPGA_EN1 can be used to debug the second delayed signal output circuit and the second no-delay signal output circuit.

[0105] The torque cutoff circuit 200 includes a first torque cutoff circuit and a second torque cutoff circuit. This torque cutoff circuit 200 can control two permanent magnet synchronous motors. Driving one motor requires independent control of the upper and lower transistors of the U, V, and W three-phase bridge arms; therefore, the torque control signal for one motor includes six PWM signals. The torque control signals for the first motor include U_HIN_1, V_HIN_1, W_HIN_1, U_LIN_1, V_LIN_1, and W_LIN_1. The torque control signals for the second motor include U_HIN_2, V_HIN_2, W_HIN_2, U_LIN_2, V_LIN_2, and W_LIN_2.

[0106] The first torque cutoff circuit includes a first buffer U1 and a second buffer U2. The signal input terminal of the first buffer U1 is used to receive the first cutoff enable signal HIGH_PWM_EN-1, the second cutoff enable signal LOW_PWM_EN-1, a 3.3V power supply signal, the torque control signal of the first motor, the first torque shutdown preprocessing control signal XL_RELAY1_1, and the first debugging signal FPGA_EN. The 3.3V power supply signal is filtered by capacitor C7 (0.1uF) before being transmitted to the signal input terminal of the first buffer U1. The signal output terminal of the first buffer U1 is connected to the signal input terminal of the second buffer U2. The signal input terminal of the second buffer U2 is also used to receive the first cutoff enable signal HIGH_PWM_EN-1, the second cutoff enable signal LOW_PWM_EN-1, and the 3.3V power supply signal. The 3.3V power supply signal is filtered by capacitor C6 (0.1uF) before being transmitted to the signal input terminal of the second buffer U2. The torque control signal of the first motor, the first torque cutoff preprocessing control signal XL_RELAY1_1, and the first debugging signal FPGA_EN are output to the first motor through the signal output terminal of the second buffer U2. The first debugging signal FPGA_EN can also be used to debug the first torque cutoff circuit. The first buffer U1 and the second buffer U2 can specifically be 74HC541 chips.

[0107] The second torque cutoff circuit includes a third buffer U3 and a fourth buffer U4. The signal input terminal of the third buffer U3 is used to connect the first cutoff enable signal HIGH_PWM_EN-1, the second cutoff enable signal LOW_PWM_EN-1, a 3.3V power supply signal, the torque control signal of the second motor, the second torque shutdown preprocessing control signal XL_RELAY1_2, and the second debugging signal FPGA_EN1. The 3.3V power supply signal is filtered by capacitor C16 and then transmitted to the signal input terminal of the third buffer U3. The capacitance of capacitor C16 is 0.1uF. The signal output terminal of the third buffer U3 is connected to the signal input terminal of the fourth buffer U4. The signal input terminal of the fourth buffer U4 is also used to connect the first cutoff enable signal HIGH_PWM_EN-1, the second cutoff enable signal LOW_PWM_EN-1, and the 3.3V power supply signal. The 3.3V power supply signal is filtered by capacitor C4 and then transmitted to the signal input terminal of the fourth buffer U4. The capacitance of capacitor C4 is 0.1uF. The torque control signal of the second motor, the second torque cutoff preprocessing control signal XL_RELAY1_2, and the second debugging signal FPGA_EN1 are output to the second motor through the signal output terminal of the fourth buffer U4. The second debugging signal FPGA_EN1 can also be used to debug the second torque cutoff circuit. The third buffer U3 and the fourth buffer U4 can specifically be 74HC541 chips.

[0108] The robot operates normally when both STO1_IN and STO2_IN signals are high (24V). Specifically, when STO2_IN is high (24V), optocoupler U7 converts the 24V STO1_IN signal into a 3.3V voltage signal and transmits it to pin 2 of transistor U8 and buffer U10. The 3.3V voltage signal remains high. At this time, transistor U8 conducts, and the charge in capacitor C1 is rapidly released through resistor R32, the collector and emitter of transistor U8, causing the output voltage at the first terminal of capacitor C1 to quickly drop to a low level. Buffers U1, U2, U3, and U4 normally transmit the torque control signals for the first and second motors. Pin 2 of buffer U10 is high (3.3V) at this time; therefore, pin 4 of buffer U10 is also high, and no torque shutdown preprocessing signal is output, allowing the motors to operate normally. Similarly, when the STO2_IN signal is at a high level (24V), the first buffer U1, the second buffer U2, the third buffer U3 and the fourth buffer U4 also transmit the torque control signal of the first motor and the torque control signal of the second motor normally, and the motor works normally.

[0109] The robot's STO function is activated when the STO1_IN and / or STO2_IN signals are low (0V). For example, when the STO2_IN signal is low (0V), there is no voltage difference between pins 1 and 2 of optocoupler U7, and pins 3 and 4 of optocoupler U7 are essentially open circuits. At this time, pin 3 of optocoupler U7 outputs a first safe torque shutdown trigger signal to the base of transistor U8 through resistor R2. The first safe torque shutdown trigger signal can be understood as a 0V low-level signal. The base of transistor U8 is cut off after receiving the safe torque shutdown trigger signal. When transistor U8 is cut off, the RC circuit composed of resistor R9 and capacitor C1 slowly charges until it reaches the high-level threshold of the subsequent circuit. This charging time can be changed by adjusting the values ​​of resistor R9 and capacitor C1, making the delay adjustable.

[0110] During the RC circuit charging process, pin 2 of buffer U10 changes from a high level (3.3V) to a low level (0V). At this time, pin 4 of buffer U10 is at a low level, outputting a torque shutdown preprocessing signal. After receiving the torque shutdown preprocessing signal, the controller sends a first torque shutdown preprocessing control signal XL_RELAY1_1 to the signal input terminal of the first buffer U1. This signal is then transmitted to the inverter circuit through the signal output terminal of the second buffer U2. Upon receiving the first torque shutdown preprocessing control signal XL_RELAY1_1, the inverter circuit controls the motor to brake and decelerate and disengage the holding brake.

[0111] After the motor braking deceleration and brake disengagement operations are completed, the RC circuit charging is finished. At this time, the first terminal of capacitor C1 is in a high-level state, which can be understood as the first cut-off enable signal mentioned above. After receiving the first cut-off enable signal, the first buffer U1, the second buffer U2, the third buffer U3, and the fourth buffer U4 are all in a high-impedance state, cutting off the transmission of the torque control signals of the first motor and the second motor. This achieves the safe torque shutdown of the first motor and the safe torque shutdown of the second motor.

[0112] Furthermore, this motor safety torque shutdown device adopts a unified interface design, allowing for rapid adaptation to new products. Specifically, the motor safety torque shutdown device also includes a first interface circuit J1 and a second interface circuit J2. For example... Figure 12 As shown, the first interface circuit J1 can connect to the delayed signal output circuit 100 and the non-delayed signal output circuit 200. It serves as an interface for signals such as debugging signals and safety torque shutdown signals. Figure 13 As shown, the second interface circuit J2 can be connected to the torque cutoff circuit 200 and used as an interface for motor operation control signals. For example, it can be used as an interface for motor torque control signals, torque shutdown preprocessing control signals, etc. Both the first interface circuit J1 and the second interface circuit J2 can be packaged using DIP packaging. The packaged interfaces can be pins.

[0113] In this embodiment, the STO circuit in the motor safety torque shutdown device adopts a dual-loop design, possessing two independent signal conversion circuits 300, a no-delay signal output circuit 100, and a delayed signal output circuit 100. The torque cutoff circuit 200 also adopts a dual-loop design. Motor safety torque shutdown can be achieved when either STO circuit is operational. This motor safety torque shutdown device can output STO signals with and without delay. Torque cutoff is achieved through the torque cutoff circuit 200, eliminating the need to cut off the gate drive power supply. Furthermore, the RC circuit in the delayed signal output circuit 100 can control the delay duration of the delayed STO signal, making control more precise and reliable. Simultaneously, torque cutoff is a purely hardware-based action, effectively preventing accidental transmissions caused by software errors. In addition, this motor safety torque shutdown device adopts a modular design and a unified interface, allowing for rapid adaptation to new products.

[0114] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0115] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A motor safety torque shut-off device, characterized in that, include: The system includes a delayed signal output circuit, a torque cutoff circuit, and a non-delayed signal output circuit. The delayed signal output circuit is connected to the torque cutoff circuit. The delayed signal output circuit is used to receive a safe torque cutoff trigger signal and send a cutoff enable signal to the torque cutoff circuit after a delay based on the safe torque cutoff trigger signal. The torque cut-off circuit is used to cut off the torque control signal of the motor after receiving the cut-off enable signal; The time-delay signal output circuit is used to receive the safety torque shutdown trigger signal and generate a torque shutdown preprocessing signal according to the safety torque shutdown trigger signal; the torque shutdown preprocessing signal is used to control the motor to perform shutdown preprocessing; the shutdown preprocessing includes controlling the motor to brake and decelerate and to close the holding brake; after the motor completes the shutdown preprocessing, the time-delay signal output circuit sends a cut-off enable signal to the torque cut-off circuit. The delay signal output circuit includes a working control unit and a delay unit; the working control unit is connected to the delay unit, and the delay unit is connected to the torque cutoff circuit; The working control unit is in a cut-off state when it receives the safety torque cut-off trigger signal; The delay unit is used to send a cut-off enable signal to the torque cut-off circuit after a delay, based on the safety torque cut-off trigger signal, when the working control unit is in the off state.

2. The motor safety torque shut-off device according to claim 1, characterized in that, It also includes a signal conversion circuit connected to the delay signal output circuit. The signal conversion circuit is used to receive a safe torque turn-off signal, generate a safe torque turn-off trigger signal based on the safe torque turn-off signal, and send it to the delay signal output circuit.

3. The motor safety torque shut-off device according to claim 2, characterized in that, The signal conversion circuit includes a first diode, a first resistor, an optocoupler, and a first capacitor; The cathode of the first diode is used to receive the safety torque turn-off signal, the anode of the first diode is connected to the first end of the first resistor, the second end of the first resistor is connected to the first end of the input side of the optocoupler, the second end of the input side of the optocoupler is used to ground, the first end of the output side of the optocoupler is connected to the delay signal output circuit, the second end of the output side of the optocoupler is grounded through the first capacitor and is used to receive the power signal.

4. The motor safety torque shut-off device according to claim 1, characterized in that, The delay signal output circuit includes a first delay signal output circuit and a second delay signal output circuit, both of which are connected to the torque cutoff circuit. The first delayed signal output circuit is used to receive the first safe torque turn-off trigger signal, and sends the first cut-off enable signal to the torque cut-off circuit after a delay according to the first safe torque turn-off trigger signal; The second delay signal output circuit is used to receive the second safe torque turn-off trigger signal, and sends the second cut-off enable signal to the torque cut-off circuit after a delay according to the second safe torque turn-off trigger signal; The torque cutoff circuit is used to cut off the torque control signal of the motor after receiving the first cutoff enable signal and / or the second cutoff enable signal.

5. The motor safety torque shut-off device according to claim 1, characterized in that, The working control unit includes a second resistor, a second capacitor, a third resistor, a switching transistor, and a fourth resistor; The first end of the second resistor is used to connect to the safety torque shutdown trigger signal, and the second end of the second resistor is connected to the control terminal of the switching transistor; the first end of the second capacitor is connected to the control terminal of the switching transistor, and the second end of the second capacitor is connected to the second terminal of the switching transistor; the first end of the third resistor is connected to the control terminal of the switching transistor, and the second end of the third resistor is connected to the second terminal of the switching transistor; the first terminal of the switching transistor is connected to the first end of the fourth resistor, and the second terminal of the switching transistor is used to ground; the second end of the fourth resistor is connected to the delay unit.

6. The motor safety torque shut-off device according to claim 1, characterized in that, The delay unit includes a fifth resistor, a third capacitor, and a second diode; The first end of the fifth resistor, the anode of the second diode, and the first end of the third capacitor are all connected to the torque cutoff circuit and the working control unit. The second end of the third capacitor is used for grounding. The cathode of the second diode is connected to the second end of the fifth resistor, and the second end of the fifth resistor is used for connecting to a power signal.

7. The motor safety torque shut-off device according to claim 1, characterized in that, The torque cutting-off circuit includes a first buffer and a second buffer; the signal input terminals of the first buffer and the second buffer are both connected to the delay signal output circuit, the signal output terminal of the first buffer is connected to the signal input terminal of the second buffer, and the signal output terminal of the second buffer is connected to the motor. The signal input terminal of the first buffer is used to connect to the torque control signal of the motor; Upon receiving the cut-off enable signal, the first buffer and the second buffer cut off the torque control signal of the motor.

8. The motor safety torque shut-off device according to claim 7, characterized in that, The torque cutoff circuit includes a first torque cutoff circuit and a second torque cutoff circuit, which are used to drive different motors respectively.

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