Robot braking control methods, systems and electronic devices

Abstract

This invention discloses a robot braking control method, system, and electronic device. Relating to the field of robot control, the method includes: upon receiving a braking control command, converting the braking control command into a braking control signal using a logic control circuit in the robot braking control system; based on the braking control signal, controlling at least one joint of the robot to brake using a braking circuit in the robot braking control system; determining control logic for the robot, wherein the control logic includes normal operation and single-joint rotation; determining a braking release strategy for at least one joint based on the control logic; and controlling at least one joint to release the braking based on the braking release strategy. This invention solves the technical problem in related technologies where robot braking control systems require powering on the entire robot when releasing the braking of a joint, posing certain safety hazards.

Description

Technical Field

[0001] This invention relates to the field of robot control, and more specifically, to a robot braking control method, system, and electronic device. Background Technology

[0002] In related technologies, when unexpected situations occur during the operation of a collaborative robot, such as the robotic arm colliding with or crushing a collaborating person, the robotic arm will report an error and instantly shut down. At this time, the collaborative robot will brake and the joints will be unable to move. If you want to rotate the joints manually, you need to power on and enable the robotic arm. However, the program that the robotic arm was running before the failure still exists. If you continue to power on and enable it, the robotic arm will most likely continue to run the program before the failure, which may lead to a secondary collision or cause secondary injury to the injured person, resulting in low operational safety.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] This invention provides a robot braking control method, system, and electronic device to at least solve the technical problem in related technologies where robot braking control systems require the entire robot to be powered on when releasing the braking of the robot joints, which poses certain safety hazards.

[0005] According to one aspect of the present invention, a robot braking control method is provided, comprising: upon receiving a braking control command, converting the braking control command into a braking control signal using a logic control circuit in a robot braking control system; based on the braking control signal, controlling at least one joint of the robot to brake using a braking circuit in the robot braking control system; determining control logic for the robot, wherein the control logic is normal operation or single-joint rotation; determining a braking release strategy for the at least one joint according to the control logic; and controlling the at least one joint to release braking based on the braking release strategy for the at least one joint.

[0006] According to another aspect of the present invention, a robot braking control system is also provided, comprising: a control power supply, a logic control circuit, a braking circuit, and an external power supply circuit, wherein the logic control circuit is connected to the braking circuit, the braking circuit is connected to at least one joint of the robot, the external power supply circuit is connected to the braking circuit, and the control power supply is connected to the logic control circuit, the braking circuit, and the external power supply circuit respectively.

[0007] According to another aspect of the present invention, an electronic device is also provided, including one or more processors and a memory, the memory being used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement any of the robot braking control methods described above.

[0008] In this embodiment of the invention, upon receiving a braking control command, the logic control circuit in the robot braking control system converts the braking control command into a braking control signal; based on the braking control signal, the braking circuit in the robot braking control system controls at least one joint of the robot to brake; the control logic for the robot is determined, wherein the control logic is normal operation or single joint rotation; according to the control logic, the braking release strategy for the at least one joint is determined; based on the braking release strategy for the at least one joint, the braking of the at least one joint is released. This achieves the purpose of selectively selecting a braking release strategy based on the robot's control logic, thereby improving the applicability of robot joint braking release and selectively choosing a braking release strategy to enhance robot control safety. Furthermore, it solves the technical problem in related technologies where robot braking control systems require powering on the entire robot when releasing the braking of a robot joint, which poses certain safety hazards. Attached Figure Description

[0009] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0010] Figure 1 This is a flowchart of a robot braking control method according to an embodiment of the present invention;

[0011] Figure 2 This is a schematic diagram of an optional robot braking control system according to an embodiment of the present invention;

[0012] Figure 3 This is a schematic diagram of a robot braking control system according to an embodiment of the present invention;

[0013] Figure 4 This is a schematic diagram of an optional external power supply circuit according to an embodiment of the present invention;

[0014] Figure 5 This is a schematic diagram of an optional switch connection according to an embodiment of the present invention;

[0015] Figure 6This is a schematic diagram of a robot braking control device according to an embodiment of the present invention. Detailed Implementation

[0016] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0017] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0018] According to an embodiment of the present invention, a method embodiment for robot braking control is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0019] Figure 1 This is a flowchart of a robot braking control method according to an embodiment of the present invention, such as... Figure 1 As shown, the method includes the following steps:

[0020] Step S102: Upon receiving a braking control command, the braking control command is converted into a braking control signal using the logic control circuit in the robot braking control system.

[0021] Step S104: Based on the braking control signal, the braking circuit in the robot braking control system is used to control the braking of at least one joint of the robot.

[0022] Step S106: Determine the control logic for the robot, wherein the control logic is normal operation and single joint rotation;

[0023] Step S108: According to the control logic, determine the braking release strategy of at least one joint, and control at least one joint to release the braking based on the braking release strategy of at least one joint.

[0024] Optionally, steps S102 to S108 are applied to the robot braking control system. Figure 2 This is a schematic diagram of an optional robot braking control system according to an embodiment of the present invention, such as... Figure 2 As shown, the robot braking control system includes a control power supply, a logic control circuit, a braking circuit, and an external power supply circuit. In this system, the logic control circuit, connected to the braking circuit, is the logic control part of the robot's brake control system, used to convert received braking control commands into braking control signals and transmit these signals to the braking circuit. The braking circuit, connected to at least one joint of the robot, is the drive part of the system, used to control the braking of at least one joint based on the braking control signal. The external power supply circuit, connected to the braking circuit, supplies power to the braking circuit when the control logic is single-joint rotation, thereby controlling the release of braking from at least one joint. The control power supply can be a 48V power supply, connected to the logic control circuit, the braking circuit, and the external power supply circuit respectively, to supply power to both the logic control circuit and the braking circuit. When the control power supply simultaneously supplies power to both the braking circuit and the logic control circuit, the braking circuit also has a motor control function. That is, during normal robot operation, the logic control circuit provides control logic, which drives the motors controlling the joints in the robot via the braking circuit, thereby controlling the robot joints to perform corresponding actions.

[0025] Optionally, the aforementioned braking control commands may be, but are not limited to, brake control commands and brake lever control commands, and the corresponding braking control signals may be, but are not limited to, brake control signals and brake lever control signals. The aforementioned control logic may include, but is not limited to, normal operation and single-joint rotation. In normal operation, the robot joints can run according to a pre-set operating program, and the robot's motors are normally powered on. In single-joint rotation, the robot joints are released from braking. When a rotation operation is triggered for any joint of the robot, for example, manually rotating that joint, the joint can rotate independently. In single-joint rotation, the robot's motors are not powered on.

[0026] It should be noted that in some cases, it may be necessary to rotate a single joint of the robot to check for any malfunctions. If the collaborative robot is powered on after the brakes are released, it may continue to execute the pre-braking program movements, potentially leading to secondary collisions and other issues, resulting in lower operational safety. Therefore, the brake release of robot joints is performed selectively based on the robot's control logic, thereby improving the safety of joint brake release.

[0027] Optionally, the robot's control logic can be determined manually, or it can be determined by setting up relevant equipment to collect the robot's current working state and then using that state to determine the control logic. For example, image acquisition equipment (such as a camera) can be set up at the robot's work site. After at least one joint of the robot brakes, the image acquisition equipment collects the robot's current state information, and the control logic is determined based on this information. For instance, if the image acquisition equipment detects that there is a worker near the robot (e.g., a worker is performing equipment maintenance or is stuck by the robot), the control logic is determined to be single-joint rotation. If the image acquisition equipment detects that there is no one near the robot (i.e., in the predetermined adjacent area), for example, no worker is contacting or operating the robot, the control logic is determined to be normal operation, and the robot motors can be powered on normally.

[0028] Alternatively, sensor devices can be installed at predetermined locations on the robot to detect whether an object (such as a worker) is in contact with the robot. If so, the control logic is set to single-joint rotation; otherwise, the control logic is set to normal operation.

[0029] Through the above steps S102 to S108, the purpose of selectively releasing braking strategies according to the robot's control logic can be achieved, thereby improving the applicability of robot joint braking release and selecting braking release strategies in a targeted manner to enhance the safety of robot control. This also solves the technical problem in related technologies where robot braking control systems require the entire machine to be powered on when releasing braking from robot joints, which poses certain safety hazards.

[0030] In one optional embodiment, a braking release strategy for at least one joint is determined according to control logic, and the braking release strategy for at least one joint is controlled to release the braking, including: when the control logic is single joint rotation, determining a first braking release strategy for at least one joint as: using an external power supply circuit in the robot braking control system to power the braking circuit; and controlling the braking release of at least one joint based on the first braking release strategy.

[0031] Optional, as before Figure 2 As shown, the robot braking control system also includes an external power supply circuit. This external power supply circuit can supply power to the braking circuit when the control logic is for single-joint rotation, thereby controlling at least one joint to release the brake. In this way, it is possible to release the brake on the robot joint while keeping the robot's motors powered off, preventing the robot from continuing to execute the pre-braking motion sequence. This ensures safe single-joint rotation of the robot.

[0032] In one optional embodiment, according to the control logic, a braking release strategy for at least one joint is determined, and based on the braking release strategy for at least one joint, the braking of at least one joint is controlled to be released, including: when the control logic is single-joint rotation, determining a second braking release strategy for at least one joint as follows: controlling a first switch connected to the braking circuit to be in an open state and a second switch connected to the logic control circuit to be in a closed state, wherein the first switch is used to control whether to supply power to the braking circuit through the control power supply in the robot braking control system, and the second switch is used to control whether to supply power to the logic control circuit through the control power supply; and controlling at least one joint to release the braking based on the second braking release strategy.

[0033] Optional, as before Figure 2 As shown, the robot braking control system may further include a first switch S1 and a second switch S2. When the first switch is open, power supply to the voltage drive circuit is stopped via the control power supply. Since the drive component is de-energized, the robot motor does not operate. When the second switch is closed, the control power supply continues to power the logic control circuit. The logic control circuit then issues corresponding control signals to control the robot joints to release the brakes. In this configuration, when the robot joints are released from braking, the robot motors are not powered, meaning the robot cannot continue executing the pre-braking motion. This allows for safe single-joint rotation of the robot.

[0034] In one optional embodiment, according to the control logic, a braking release strategy for at least one joint is determined, and based on the braking release strategy for at least one joint, the braking of at least one joint is controlled to be released, including: when the control logic is operating normally, determining a third braking release strategy for at least one joint as: controlling a first switch to be in a closed state and a second switch to be in a closed state; and controlling at least one joint to release the braking based on the third braking release strategy.

[0035] Optional, as before Figure 2As shown, when the robot's control logic is running normally, the robot can be powered on normally, that is, the robot's motors can be powered on. At this time, both the first and second switches are kept in the closed state. The control power supply simultaneously supplies power to the logic control circuit and the braking circuit to ensure that the robot can run normally.

[0036] In an alternative embodiment, when the control logic is single-joint rotation, after controlling at least one joint to release the brake based on a brake release strategy for at least one joint, the method further includes: controlling the target joint to perform an action based on the action in response to an activity operation of the target joint among the at least one joint.

[0037] Optionally, the target joint can be any one of the at least one joints of the robot. When the control logic is single-joint rotation, a corresponding braking release strategy is adopted to release the braking of the robot joint. At this time, the robot motor does not move. By triggering the activity operation of the target joint (such as manually rotating the target joint of the robot), the single-joint rotation of the target joint can be achieved in a safe state, thereby improving the safety of robot operation.

[0038] According to an embodiment of the present invention, a system embodiment for implementing the above-described robot braking control method is also provided. Figure 3 This is a schematic diagram of a robot braking control system according to an embodiment of the present invention, as shown below. Figure 3 As shown, the above-mentioned robot braking control system includes: a control power supply 20, a logic control circuit 22, a braking circuit 24, and an external power supply circuit 26, wherein...

[0039] The logic control circuit 22 is connected to the braking circuit 24, the braking circuit 24 is connected to at least one joint of the robot, the external power supply circuit 26 is connected to the braking circuit 24, and the control power supply 20 is connected to the logic control circuit 22, the braking circuit 24 and the external power supply circuit 26 respectively.

[0040] Optionally, in this robot braking control system, the logic control circuit 22 is the logic control part of the robot, used to convert the received braking control command into a braking control signal and transmit the braking control signal to the braking circuit 24; the braking circuit 24 is the drive part of the robot braking control system, used to control at least one joint to brake based on the braking control signal; the external power supply circuit 26 is used to supply power to the braking circuit 24 when the control logic is single joint rotation, so as to control at least one joint to release the brake; the control power supply 20 can be a 48V power supply, used to supply power to the logic control circuit 22 and the braking circuit 24; wherein, when the control power supply 20 supplies power to both the braking circuit 24 and the logic control circuit 22, the braking circuit 24 also has a motor control function, that is, when the robot is running normally, the logic control circuit 22 provides control logic, and the braking circuit 24 drives the motors in the robot that control the joint operation, so as to control the robot joints to perform corresponding actions.

[0041] Optional, as before Figure 2 As shown, the braking circuit 24 includes: a first voltage converter, a metal-oxide-semiconductor field-effect transistor (MOSFET) (i.e., MOS) driving circuit, a MOS transistor, and a braking mechanism. The first voltage converter is connected to the MOS driving circuit, the MOS driving circuit is connected to the MOS transistor, and the MOS transistor is connected to the braking mechanism. The braking mechanism can be, but is not limited to, a holding brake mechanism or a brake lever mechanism. The first voltage converter is used to convert a first voltage signal provided by the control power supply 20 into a second voltage signal, and to supply power to the MOS driving circuit through the second voltage signal. The voltage amplitude of the first voltage signal is greater than the voltage amplitude of the second voltage signal. The MOS driving circuit is used to stop providing pulse signals to the MOS transistor when it receives a braking control signal, so that the MOS transistor in the braking mechanism part works, the braking mechanism is activated, and the brake is released.

[0042] In the robot system, braking is controlled by the drive control board (i.e., braking circuit 24) inside the arm, through two wires leading from the brake connected to a 2-pin terminal on the drive control board. One pin is directly connected to the control power supply 20, and the other pin is connected to ground via a MOSFET. After the robotic arm is enabled, the control circuit MCU sends a pulse width modulation (PWM) wave through the timer interface to turn on the MOSFET, creating a current loop. When the robotic arm is de-enabled, the control circuit stops sending the PWM wave, the loop is turned off, and braking occurs. In addition to the aforementioned circuit, an external power supply circuit can be added. For example, an additional 2-pin header can be added as the input terminal for the external power supply, with one pin for the external power interface and one pin for ground (GND). When the robot malfunctions and requires manual movement of a single joint, the cover of the corresponding joint can be removed, and an adjustable DC power supply can be directly connected to the input terminal of the external power supply. After adjusting the voltage to the excitation voltage of the electromagnetic brake, the electromagnetic brake is directly powered, releasing the brake and allowing the single joint to rotate sequentially. The above methods can be used to safely rotate a robot's single joint.

[0043] Optional, as before Figure 2 As shown, the logic control circuit 22 includes a second voltage converter and a control circuit. The second voltage converter is connected to the control circuit. The second voltage converter is used to convert the first voltage signal provided by the control power supply 20 into a third voltage signal and to supply power to the control circuit based on the third voltage signal. The voltage amplitude of the first voltage signal is greater than the voltage amplitude of the third voltage signal. The control circuit is used to convert the received braking control command into a braking control signal and transmit the braking control signal to the braking circuit 24.

[0044] In one optional embodiment, the external power supply circuit 26 includes: an external power supply interface and an external power supply detection circuit. The external power supply interface is connected to the external power supply detection circuit and the control power supply 20, respectively. The external power supply detection circuit is connected to the braking circuit 24. The external power supply detection circuit is used to detect whether the external power supply interface outputs an electrical signal.

[0045] Optional, as before Figure 2 As shown, the external power supply circuit 26 includes an external power interface and an external power detection circuit. By setting the external power detection circuit, the presence of an electrical signal in the external power interface can be detected at any time to ensure that the robot joint can be released from braking smoothly.

[0046] Optional, Figure 4 This is a schematic diagram of an optional external power supply circuit according to an embodiment of the present invention, such as... Figure 4As shown, the external power detection circuit includes a first resistor R1 and a second resistor R2. One end of the first resistor R1 is connected to the external power interface, and the other end of the first resistor R1 is connected to the second resistor R2. The braking circuit 24 is connected from the position between the first resistor R1 and the second resistor R2.

[0047] Optional, as before Figure 2 and Figure 4 As shown, when an external power supply is connected to the external power interface, the voltage at the output terminal +Break of the external power interface is divided and then enters the first DC-DC converter through a predetermined port (such as the Disable12V terminal). The first DC-DC converter activates the 48V to 12V chip. At this time, the pre-drive mechanism that drives the braking mechanism is turned on, the MOSFET in the braking mechanism section is working, and the brake is released. However, because the logic control circuit 22 is not activated, the MCU is not working and cannot issue any instructions. Therefore, the driving section remains in a stopped state.

[0048] In one optional embodiment, a protection circuit is provided between the control power supply 20 and the external power interface. This protection circuit includes at least a diode and a capacitor, wherein the diode and capacitor are connected in series. By providing this protection circuit between the external power interface and the control power supply 20, the safe operation of the circuit is ensured.

[0049] In one alternative embodiment, a first switch is provided between the control power supply 20 and the braking circuit 24, and a second switch is provided between the control power supply 20 and the logic control circuit 22.

[0050] Optionally, the first switch controls whether to supply power to the braking circuit 24, and the second switch controls whether to supply power to the logic control circuit 22. Specifically, when at least one joint of the robot is braked, and the robot's control logic is single-joint rotation, the first switch is closed and the second switch is opened, allowing the logic control circuit 22 to control the braking circuit 24 to release the brake on at least one joint. In this configuration, when the robot joint is released from braking, the robot motor is not powered, meaning the robot cannot continue executing the pre-braking motion. This ensures safe single-joint rotation of the robot.

[0051] Optionally, two switches are added to the input terminal of the control power supply 20: a first switch and a second switch. The first switch controls the on / off state of the drive circuit (i.e., the braking circuit 24), and the second switch controls the on / off state of the logic control circuit 22. The braking circuit is categorized under the logic circuit section. When single-joint dragging is desired, after opening the robot's cover, locate the corresponding switch, disconnect the drive circuit, and ensure the logic circuit remains on. Then, power on the entire machine; this ensures the motor does not rotate and the brake is released.

[0052] In one optional embodiment, the control power supply 20 includes a first control power supply 20 and a second control power supply 20, wherein the first control power supply 20 is connected to the braking circuit 24 via a first switch; and the second control power supply 20 is connected to the logic control circuit 22 via a second switch.

[0053] Optionally, the first power supply is the power supply for the motor drive section, denoted as P48V, and the corresponding ground terminal is denoted as PGND, used to power the braking circuit 24; the second power supply is the power supply for the logic control section, denoted as 48V, and the corresponding ground terminal is denoted as GND, used to power the logic control circuit 22. Figure 5 This is a schematic diagram of an optional switch connection according to an embodiment of the present invention, such as... Figure 5 As shown, during normal operation, both the first switch S1 and the second switch S2 are closed. In an emergency, an emergency stop was activated, causing the robot to lose power. Before rotating a single joint, the first switch was opened, and the second switch was closed. Upon power-up, the P48V power supply to the motor drive section was not conducting, rendering the drive section inoperable. The logic control circuit 22, responsible for the 48V supply, was fully activated. The MCU sent a signal to release the brake, releasing the electromagnetic brake, allowing each robot joint to rotate independently.

[0054] In one optional embodiment, the system further includes a first capacitor circuit and a second capacitor circuit, wherein the first capacitor circuit includes a first number of capacitors connected in parallel, and the second capacitor circuit includes a second number of capacitors connected in parallel; the first capacitor circuit is disposed between the first control power supply 20 and the ground terminal, and the second capacitor circuit is disposed between the second control power supply 20 and the ground terminal.

[0055] It should be noted that, since the motor is an inductive load, to prevent excessive voltage fluctuations during operation, a certain number of capacitors are installed at the corresponding positions of the first and second switches. The installation method and quantity can be as follows: Figure 5 As shown, it serves as an energy storage device, thereby improving the stability of robot operation.

[0056] It should be noted that in this application Figures 2 to 3 The specific structure of the robot braking control system shown is merely illustrative. In practical applications, the robot braking control system in this application can be more advanced than... Figures 2 to 3 The robot braking control system shown has more or less structure.

[0057] It should be noted that any optional or preferred robot braking control method in the above method embodiments can be executed or implemented in the robot braking control system provided in this embodiment.

[0058] Furthermore, it should be noted that the optional or preferred implementation methods of this embodiment can be found in the relevant descriptions in the method embodiments, which will not be repeated here.

[0059] This embodiment also provides a robot braking control device for implementing the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the terms "module" and "device" can refer to a combination of software and / or hardware that performs a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0060] According to an embodiment of the present invention, an apparatus embodiment for implementing the above-described robot braking control method is also provided. Figure 6 This is a schematic diagram of the structure of a robot braking control device according to an embodiment of the present invention, as shown below. Figure 6 As shown, the above-mentioned robot braking control device includes: a signal conversion module 600, a first control module 602, a determination module 604, and a second control module 606, wherein:

[0061] The signal conversion module 600 is used to convert the braking control command into a braking control signal using the logic control circuit in the robot braking control system when a braking control command is received.

[0062] The first control module 602 is connected to the signal conversion module and is used to control the braking of at least one joint of the robot based on the braking control signal and the braking circuit in the robot braking control system.

[0063] The determination module 604, connected to the first control module, is used to determine the control logic for the robot, wherein the control logic is normal operation and single joint rotation.

[0064] The second control module 606, connected to the determination module, is used to determine the braking release strategy of at least one joint according to the control logic, and control at least one joint to release the braking based on the braking release strategy of at least one joint.

[0065] In this embodiment of the invention, a signal conversion module 600 is provided to convert a braking control command into a braking control signal using the logic control circuit in the robot braking control system upon receiving a braking control command. A first control module 602, connected to the signal conversion module, is used to control at least one joint of the robot to brake based on the braking control signal using the braking circuit in the robot braking control system. A determination module 604, connected to the first control module, is used to determine the control logic for the robot, wherein the control logic is normal operation or single joint rotation. A second control module 606, connected to the determination module, is used to determine the braking release strategy for at least one joint according to the control logic, and control at least one joint to release the brake based on the braking release strategy of at least one joint. This achieves the purpose of selectively selecting braking release strategies according to the robot's control logic, thereby improving the applicability of robot joint braking release and selectively choosing braking release strategies to improve robot control safety. This solves the technical problem in related technologies where robot braking control systems require powering on the entire robot when releasing the brakes on robot joints, which poses certain safety hazards.

[0066] It should be noted that the above modules can be implemented by software or hardware. For example, for the latter, it can be implemented in the following ways: the above modules can be located in the same processor; or the above modules can be located in different processors in any combination.

[0067] It should be noted that the signal conversion module 600, the first control module 602, the determination module 604, and the second control module 606 mentioned above correspond to steps S102 to S108 in the embodiments. The instances and application scenarios implemented by the above modules and their corresponding steps are the same, but they are not limited to the content disclosed in the above embodiments. It should be noted that the above modules, as part of the device, can run in a computer terminal.

[0068] It should be noted that the optional or preferred implementation methods of this embodiment can be found in the relevant descriptions in the embodiments, and will not be repeated here.

[0069] The aforementioned robot braking control device may also include a processor and a memory. The aforementioned signal conversion module 600, first control module 602, determination module 604, second control module 606, etc., are all stored in the memory as program modules, and the processor executes the aforementioned program modules stored in the memory to realize the corresponding functions.

[0070] The processor contains a core that retrieves the corresponding program modules from memory. One or more cores may be configured. Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory includes at least one memory chip.

[0071] According to an embodiment of this application, an embodiment of a non-volatile storage medium is also provided. Optionally, in this embodiment, the non-volatile storage medium includes a stored program, wherein, when the program is running, it controls the device where the non-volatile storage medium is located to execute any of the robot braking control methods described above.

[0072] Optionally, in this embodiment, the non-volatile storage medium may be located in any computer terminal in a group of computer terminals in a computer network, or in any mobile terminal in a group of mobile terminals, and the non-volatile storage medium includes stored programs.

[0073] Optionally, during program execution, the device containing the non-volatile storage medium performs the following functions: upon receiving a braking control command, the logic control circuit in the robot braking control system converts the braking control command into a braking control signal; based on the braking control signal, the braking circuit in the robot braking control system controls at least one joint of the robot to brake; the control logic for the robot is determined, wherein the control logic is normal operation or single-joint rotation; based on the control logic, the braking release strategy for at least one joint is determined, and based on the braking release strategy for at least one joint, the braking of at least one joint is released.

[0074] According to an embodiment of this application, an embodiment of a processor is also provided. Optionally, in this embodiment, the processor is used to run a program, wherein the program executes any of the robot braking control methods described above.

[0075] According to an embodiment of this application, an embodiment of a computer program product is also provided, which, when executed on a data processing device, is adapted to execute a program that initializes the robot braking control method steps described above.

[0076] Optionally, when the above-mentioned computer program product is executed on a data processing device, it is suitable to execute a program with the following initialization steps: upon receiving a braking control command, the program uses the logic control circuit in the robot braking control system to convert the braking control command into a braking control signal; based on the braking control signal, the program uses the braking circuit in the robot braking control system to control the braking of at least one joint of the robot; the program determines the control logic for the robot, wherein the control logic is normal operation or single joint rotation; based on the control logic, the program determines the braking release strategy for at least one joint, and controls the braking of at least one joint to be released based on the braking release strategy for at least one joint.

[0077] This invention provides an electronic device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs the following steps: upon receiving a braking control command, it converts the braking control command into a braking control signal using a logic control circuit in a robot braking control system; based on the braking control signal, it controls at least one joint of the robot to brake using a braking circuit in the robot braking control system; it determines control logic for the robot, wherein the control logic is normal operation or single-joint rotation; based on the control logic, it determines a braking release strategy for at least one joint, and controls at least one joint to release the brake based on the braking release strategy for at least one joint.

[0078] The order of the above embodiments of the present invention is merely for description and does not represent the superiority or inferiority of the embodiments.

[0079] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0080] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of modules described above can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, or indirect coupling or communication connection between modules, and may be electrical or other forms.

[0081] The modules described above as separate components may or may not be physically separate. Similarly, the components shown as modules may or may not be physical modules; they may be located in one place or distributed across multiple modules. Some or all of the modules can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0082] Furthermore, the functional modules in the various embodiments of the present invention can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0083] If the aforementioned integrated modules are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable non-volatile storage medium. Based on this understanding, the technical solution of this invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a non-volatile storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned non-volatile storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0084] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A robot braking control method, characterized in that, include: Upon receiving a braking control command, the logic control circuit in the robot braking control system converts the braking control command into a braking control signal. Based on the braking control signal, the braking circuit in the robot braking control system is used to control the braking of at least one joint of the robot. Determine the control logic for the robot, wherein the control logic is normal operation and single-joint rotation; According to the control logic, the braking release strategy of the at least one joint is determined, and based on the braking release strategy of the at least one joint, the braking of the at least one joint is released. Specifically, when the robot is in normal operation, control logic is provided through a logic control circuit, and the motors controlling the joint operation in the robot are driven through a braking circuit; when the robot is in the single-joint rotation state, the braking circuit is powered by an external power supply circuit.

2. The method according to claim 1, characterized in that, The step of determining the braking release strategy for the at least one joint according to the control logic, and controlling the at least one joint to release the braking based on the braking release strategy, includes: When the control logic is for the single joint to rotate, the first braking release strategy for the at least one joint is determined to be: to use the external power supply circuit in the robot braking control system to power the braking circuit; Based on the first braking release strategy, control the at least one joint to release the braking.

3. The method according to claim 1, characterized in that, The step of determining the braking release strategy for the at least one joint according to the control logic, and controlling the at least one joint to release the braking based on the braking release strategy, includes: When the control logic is for the single joint to rotate, the second braking release strategy for the at least one joint is determined as follows: the first switch connected to the braking circuit is controlled to be in the open state, and the second switch connected to the logic control circuit is controlled to be in the closed state. The first switch is used to control whether to supply power to the braking circuit through the control power supply in the robot braking control system, and the second switch is used to control whether to supply power to the logic control circuit through the control power supply. Based on the second braking release strategy, the braking of at least one joint is released.

4. The method according to claim 3, characterized in that, The step of determining the braking release strategy for the at least one joint according to the control logic, and controlling the at least one joint to release the braking based on the braking release strategy, includes: When the control logic is operating normally, the third braking release strategy for the at least one joint is determined to be: controlling the first switch to be in the closed state and the second switch to be in the closed state; Based on the third braking release strategy, control the at least one joint to release the braking.

5. The method according to any one of claims 1 to 4, characterized in that, When the control logic is for single-joint rotation, after controlling the at least one joint to release the brake based on the brake release strategy of the at least one joint, the method further includes: In response to the movement of the target joint in the at least one joint, the target joint is controlled to move based on the movement.

6. A robot braking control system, characterized in that, The system applied to the method according to any one of claims 1 to 5, the system comprising: a control power supply, a logic control circuit, a braking circuit, and an external power supply circuit, wherein, The logic control circuit is connected to the braking circuit, the braking circuit is connected to at least one joint of the robot, the external power supply circuit is connected to the braking circuit, and the control power supply is connected to the logic control circuit, the braking circuit, and the external power supply circuit respectively.

7. The system according to claim 6, characterized in that, A first switch is provided between the control power supply and the braking circuit, and a second switch is provided between the control power supply and the logic control circuit.

8. The system according to claim 7, characterized in that, The control power supply includes a first control power supply and a second control power supply, wherein the first control power supply is connected to the braking circuit through the first switch; and the second control power supply is connected to the logic control circuit through the second switch.

9. The system according to claim 8, characterized in that, The system further includes a first capacitor circuit and a second capacitor circuit, wherein... The first capacitor circuit includes a first number of capacitors connected in parallel; the second capacitor circuit includes a second number of capacitors connected in parallel. The first capacitor circuit is disposed between the first control power supply and the ground terminal, and the second capacitor circuit is disposed between the second control power supply and the ground terminal.

10. The system according to claim 6, characterized in that, The external power supply circuit includes: an external power interface and an external power detection circuit. The external power interface is connected to the external power detection circuit and the control power supply respectively. The external power detection circuit is connected to the braking circuit. The external power detection circuit is used to detect whether the external power interface outputs an electrical signal.

11. An electronic device, characterized in that, It includes one or more processors and a memory, the memory being used to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors cause the one or more processors to implement the robot braking control method according to any one of claims 1 to 5.

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