Control circuit of hub motor and robot

Abstract

The invention discloses a control circuit of a wheel hub motor and a robot, the control circuit of the wheel hub motor comprises a wheel hub power supply driving module and a wheel hub driving power supply circuit, and the wheel hub motor circuit is connected with the wheel hub driving power supply circuit through the wheel hub power supply driving module. The hub power supply driving module comprises a hub driving power supply connecting end and a switch control circuit, the hub driving power supply circuit outputs a hub driving power supply through the hub driving power supply connecting end, and the hub driving power supply connecting end comprises a phase line connecting end connected with a phase line of the hub driving power supply; and the switch control circuit controls the plurality of phase line connecting ends to be in short circuit when the hub driving power supply circuit is powered down. According to the control circuit of the hub motor, under the condition that the hub driving power supply circuit is powered down, the switch control circuit can control the phase line connecting ends to be in short circuit, and operation of the motor is stopped. In this way, a band-type brake device and a mechanical parking device do not need to be additionally arranged for braking, and the mechanical structure is simpler.

Description

Technical Field

[0001] The present invention relates to the technical field of electronic circuits, and more specifically, to a control circuit of a hub motor and a robot. Background Art

[0002] In the related art, when the power is suddenly cut off, the robot will lose its self-control ability and will not be able to maintain stability. It will slide and collide with surrounding objects or fall down, which is a dangerous state. Therefore, the robot needs to be equipped with an additional brake device and a mechanical parking device to achieve the purpose of braking and parking, which will make the mechanical structure more complicated. Summary of the invention

[0003] Embodiments of the present invention provide a control circuit for a hub motor and a robot.

[0004] The control circuit of the hub motor provided in the embodiment of the present invention comprises a hub power drive module and a hub drive power circuit, the hub motor circuit is connected to the hub drive power circuit through the hub power drive module, wherein the hub power drive module comprises a hub drive power connection terminal and a switch control circuit, the hub drive power circuit outputs the hub drive power through the hub drive power connection terminal, the hub drive power connection terminal comprises a phase line connection terminal connected to the phase line of the hub drive power, and an interface of a power supply detection circuit for outputting a detection feedback signal of the power supply; the switch control circuit is used to detect the power supply voltage of the hub drive power circuit, and when it is detected that the hub drive power circuit is powered off, control a plurality of the phase line connection terminals to short-circuit each other.

[0005] In some embodiments, the switch control circuit includes a relay, and the switch control circuit includes a relay, and the relay is used to close when the wheel hub drive power supply circuit loses power, so as to control the multiple phase line connection ends to be short-circuited with each other.

[0006] In some embodiments, the relay includes a coil, a first end of the coil is connected to the power supply voltage of the wheel hub drive power supply circuit, and a second end of the coil is grounded. The coil is used to detect the power supply voltage of the wheel hub drive power supply circuit. When it is detected that the wheel hub drive power supply circuit is powered off, the coil does not generate a current, so that the relay is closed.

[0007] In certain embodiments, the coil is further configured to generate the energizing current when the wheel hub drive power circuit is not powered off, so that the relay is disconnected.

[0008] In some embodiments, the switch control circuit further includes a freewheeling diode, a cathode of the freewheeling diode is connected to the first end of the coil, and an anode of the freewheeling diode is connected to the second end of the coil.

[0009] In some embodiments, the switch control circuit also includes a mechanical switch. When the mechanical switch is closed, the relay is used to close when the hub drive power circuit loses power, thereby controlling the multiple phase line connection ends to be short-circuited with each other; the mechanical switch is also used to control the multiple phase line connection ends to not be short-circuited with each other when it is disconnected.

[0010] In certain embodiments, the wheel hub power drive module further includes a detection circuit, and the detection circuit is used to detect the working status of the relay and the mechanical switch.

[0011] In some embodiments, the wheel hub power drive module further includes a delay circuit, which is used to output a delay voltage within a preset time after the wheel hub drive power circuit loses power, so that the switch control circuit detects that the wheel hub drive power circuit is not powered off.

[0012] In some embodiments, the delay circuit includes a discharge capacitor, which is used to discharge after the hub drive power circuit loses power, and the voltage of the discharge capacitor is the delay voltage.

[0013] An embodiment of the present invention provides a robot, comprising a wheel hub motor and a control circuit of the wheel hub motor of any one of the above embodiments, wherein the wheel hub drive power connection end is connected to the wheel hub motor, and the control circuit of the wheel hub motor is used to output the wheel hub drive power through the wheel hub drive power connection end to drive the wheel hub motor.

[0014] In the control circuit and robot of the wheel hub motor of the embodiment of the present invention, the wheel hub drive power supply circuit outputs the wheel hub drive power supply to the wheel hub motor through the wheel hub power supply drive module, and the wheel hub power supply drive module includes a phase line connection end, and the phase line connection end is used to connect the phase line of the wheel hub drive power supply. When multiple phase line connection ends are short-circuited, the output wheel hub drive power supply can generate reverse electromotive force resistance to the wheel hub motor. The switch control circuit can detect the power supply voltage of the wheel hub drive power supply circuit. When it is detected that the wheel hub drive power supply circuit is powered off, the multiple phase line connection ends are controlled to be short-circuited. At this time, the wheel hub drive power supply circuit can generate reverse electromotive force resistance to the connected motor, preventing the wheel hub motor from continuing to move forward. In this way, when the wheel hub drive power supply circuit is powered off, the operation of the wheel hub motor can be stopped by the switch control circuit, and the purpose of braking and parking is achieved, and there is no need to additionally set up a brake device and a mechanical parking device, which makes the mechanical structure simpler.

[0015] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0017] Figure 1 is a schematic diagram of a control circuit of a hub motor according to an embodiment of the present invention;

[0018] Figure 2 is a circuit diagram of a control circuit of a hub motor according to an embodiment of the present invention;

[0019] Figure 3 is a circuit diagram of a control circuit of a hub motor according to an embodiment of the present invention;

[0020] Figure 4 1 is a schematic diagram of the control circuit of the hub motor and the connection of the hub motor according to an embodiment of the present invention. DETAILED DESCRIPTION

[0021] The embodiments of the present invention are described in detail below, and the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0022] In the relevant technical field, when the power is suddenly cut off, the robot will lose its self-control ability and will not be able to maintain stability on its own. It will slide and collide with surrounding objects or fall down, which is a dangerous state. Therefore, the robot needs to be equipped with additional brake devices and mechanical parking devices to achieve the purpose of braking and parking, which will make the mechanical structure more complicated. The additional mechanical device will cause the motor to become larger and the cost to increase. After the power is cut off, the brake cannot be opened to move the robot, which is inconvenient to use. In addition, the brake device needs to be powered additionally, which wastes battery power and reduces battery life.

[0023] See also Figure 1The embodiment of the present invention provides a control circuit of a hub motor, the control circuit of the hub motor includes a hub power drive module 100 and a hub drive power circuit 200, the hub motor circuit is connected to the hub drive power circuit 200 through the hub power drive module 100, wherein the hub power drive module 100 includes a hub drive power connection terminal 10 and a switch control circuit 20, the hub drive power circuit 200 outputs the hub drive power through the hub drive power connection terminal 10, the hub drive power connection terminal 10 includes a phase line connection terminal connected to a phase line of the hub drive power, and an interface of a power supply detection circuit for outputting a detection feedback signal of the power supply; the switch control circuit 20 is used to detect the power supply voltage of the hub drive power circuit 200, and when it is detected that the hub drive power circuit 200 is powered off, control multiple phase line connection terminals to short-circuit each other.

[0024] Specifically, the wheel hub drive power supply circuit 200 outputs the wheel hub drive power supply to the wheel hub motor circuit through the wheel hub drive power supply connection terminal 10. The wheel hub power supply drive module 100 includes a phase line connection terminal, which is used to connect the phase line of the wheel hub drive power supply. When a three-phase motor is connected, there can be three phase line connection terminals, and when a four-wire two-phase motor is connected, there can be four phase line connection terminals. When all the phase line connection terminals connected to the wheel hub motor circuit are short-circuited, the drive voltage output by the wheel hub drive power supply circuit 200 can generate a resistance to the reverse electromotive force of the connected motor, preventing the motor from continuing to move forward.

[0025] The hub drive power connection terminal 10 also includes an interface for a power supply detection circuit for outputting a detection feedback signal of the power supply. The switch control circuit 20 is also connected to the power supply detection circuit through the hub drive power connection terminal 10. The power supply detection circuit can be used to detect the power supply voltage of the hub drive power circuit 200. The switch control circuit 20 can detect the power supply voltage of the hub drive power circuit 200 by connecting the power supply detection circuit. When it is detected that the hub drive power circuit 200 loses power, the switch control circuit 20 controls the multiple phase line connection terminals of the hub drive power connection terminal 10 to short-circuit each other to prevent the motor from continuing to move forward. When the power is lost, the brake cannot be stopped immediately, but the resistance of the reverse electromotive force is generated to prevent the motor from continuing to move forward, and it can only stop after a short time. In the application scenarios of robots, they are all low-speed scenes, so stopping after a short time can also meet actual needs.

[0026] In this way, when the wheel hub drive power supply circuit 200 loses power, the switch control circuit 20 can stop the motor from running, achieving the purpose of braking and parking, without the need to set up an additional brake device and a mechanical parking device, which makes the mechanical structure simpler. There is no need to increase the size of the motor due to the change of the mechanical structure, and there is no need to supply power to the brake device, which also reduces the cost and increases the endurance of the equipment.

[0027] See also Figure 2 In some embodiments, the switch control circuit 20 includes a relay 30, which is used to close when the hub drive power circuit 200 loses power, and control multiple phase line connection terminals to short-circuit each other.

[0028] Specifically, the hub drive power connection terminal 10 can be Figure 2 In the connector J1, the relay 30 may include Figure 2 SW1 and SW2 in. When the hub drive power connection terminal 10 is connected to a three-phase motor, the multiple phase line connection terminals are LM_W, LM_V and LM_U. When SW1 is closed, LM_W and LM_U can be short-circuited, when SW2 is closed, LM_V and LM_U can be short-circuited, and when SW1 and SW2 are both closed, LM_W, LM_V and LM_U can be short-circuited with each other. When the hub drive power circuit 200 loses power, SW1 and SW2 are both closed, and LM_W, LM_V and LM_U are controlled to be short-circuited with each other. The drive voltage output by the hub drive power circuit 200 through the connector J1 can generate a resistance to the reverse electromotive force of the connected motor, preventing the motor connected to the hub drive power circuit 200 from continuing to move forward.

[0029] In this way, the relay 30 can control the multiple phase line connection terminals to be short-circuited with each other when closed.

[0030] In some embodiments, the relay 30 includes a coil, a first end of the coil is connected to the power supply voltage of the hub drive power supply circuit 200, and a second end of the coil is grounded. The coil is used to detect the power supply voltage of the hub drive power supply circuit 200. When it is detected that the hub drive power supply circuit 200 loses power, the coil does not generate a current, so that the relay 30 is closed.

[0031] Specifically, the coil can be Figure 2L1 and L2 in the figure, L1 is the coil of relay SW1, and L2 is the coil of relay SW2. The power supply voltage of the hub drive power supply circuit 200 can be detected through the VCC_12V_R terminal, the first ends of the coils L1 and L2 are connected to the VCC_12V_R terminal, and the second ends of the coils L1 and L2 are connected to the ground terminal. Relays SW1 and SW2 are normally closed relays, and the relay 30 includes a single-pole double-throw switch, the first end of the single-pole double-throw switch is fixedly connected to the 5th and 6th pins of the relay 30, when the coil is not energized, the second end of the single-pole double-throw switch is connected to the 3rd and 4th pins of the relay 30, and the relay 30 is closed. When the hub drive power supply circuit 200 loses power, no voltage is generated at the VCC_12V_R terminal, the coils L1 and L2 are not energized, the second end of the single-pole double-throw switch is connected to the 3rd and 4th pins of the relay 30, the relay 30 is closed, and LM_W, LM_V and LM_U are controlled to be short-circuited with each other.

[0032] In this way, the relay 30 is closed when the hub drive power supply circuit 200 loses power, and can control the multiple phase line connection ends to be short-circuited with each other.

[0033] In some embodiments, the coil is also used to generate a current when the wheel hub drive power circuit 200 is not powered off, so that the relay 30 is disconnected.

[0034] Specifically, when the hub drive power supply circuit 200 is not powered off, a voltage is generated at the VCC_12V_R terminal, and coils L1 and L2 generate a current when powered on, and generate an induced electromotive force at both ends, generating a sufficiently large magnetic force to pull the second end of the single-pole double-throw switch from pins 3 and 4 to pins 7 and 8, so that relays SW1 and SW2 are disconnected, and the connection between LM_W, LM_V and LM_U is disconnected. Relay 30 can also refer to Figure 3 , multiple phase line connection terminals are U_IN, V_IN and W_IN. Relay 30 is a normally closed relay. When the drive circuit is powered off, the coil is not energized, and the single-pole double-throw switch is connected to V_IN and W_IN. When the drive circuit is powered on, the coil is energized, so that the single-pole double-throw switch is not connected to V_IN and W_IN.

[0035] In this way, the relay 30 is disconnected when the hub drive power supply circuit 200 is not powered off, and the plurality of phase line connection terminals are controlled not to be short-circuited with each other.

[0036] In some embodiments, the switch control circuit 20 further includes a freewheeling diode, a cathode of the freewheeling diode is connected to the first end of the coil, and an anode of the freewheeling diode is connected to the second end of the coil.

[0037] Specifically, the freewheeling diode may include Figure 2The diode D2 and the diode D3 in the circuit are connected, and the anode of the freewheeling diode is grounded, and the cathode is connected to the VCC_12V_R terminal. In the absence of the freewheeling diode, when the hub drive power supply circuit 200 is just powered off, the induced electromotive force at both ends of the coils L1 and L2 generates a reverse voltage on the relay 30. When the reverse voltage is higher than the reverse breakdown voltage of the relay 30, the relays SW1 and SW2 will be damaged. In the case of connecting the freewheeling diode, when the hub drive power supply circuit 200 is just powered off, the freewheeling diode is forward-conducted, and the freewheeling diode and the coil form a discharge circuit. The induced electromotive force at both ends of the coil can discharge current through the freewheeling diode, thereby avoiding damage to the relay 30.

[0038] In this way, when the hub drive power supply circuit 200 is just powered off, the coil can discharge current through the freewheeling diode, thereby avoiding damage to the relay 30 .

[0039] In some embodiments, the switch control circuit 20 also includes a mechanical switch 40. When the mechanical switch 40 is closed, the relay 30 is used to close when the hub drive power supply circuit 200 loses power, and controls multiple phase line connection terminals to be short-circuited with each other. The mechanical switch 40 is also used to control the multiple phase line connection terminals to not be short-circuited with each other when it is disconnected.

[0040] Specifically, the mechanical switch 40 can be a recoverable mechanical switch 40 with a spring automatic reset function. When the mechanical switch 40 is pressed by an external force, it is closed, and after the external force is removed, the switch will return to the disconnected state. The mechanical switch 40 can also have a buckle. After the switch is pressed, the buckle of the mechanical switch 40 can be fastened so that the buckle can maintain the pressing action after being pressed. When it is necessary to control the mechanical switch 40 to return to the disconnected state, the buckle is released so that the mechanical switch 40 automatically resets and returns to the disconnected state. The mechanical switch 40 can be provided with multiple, respectively controlling the connection states of different phase line connection terminals, and the mechanical switch 40 can also be provided with one, and the connection states of multiple phase line connection terminals are controlled by one mechanical switch 40 at the same time.

[0041] The mechanical switch 40 may be Figure 2 SW3 in the circuit, SW3 and SW1 are arranged in series between LM_W and LM_V, and SW3 and SW2 are arranged in series between LM_W and LM_U. The mechanical switch 40 mainly realizes the functions of enabling and canceling the three-phase short circuit. When SW3 is closed, the function of three-phase short circuit is enabled, and the relay 30 can realize the function of short circuit control, that is, LM_W, LM_V and LM_U can be short-circuited with each other by controlling the closing of SW1 and SW2. When SW3 is closed, when the hub drive power supply circuit 200 loses power, the relays SW1 and SW2 are closed, and multiple phase line connection ends are short-circuited with each other.

[0042] Relay 30 can also refer to Figure 3 When the mechanical switch 40 is pressed, the mechanical switch 40 is connected to U_IN, and the connected U_IN is connected to the relay 30, and the relay 30 can realize the short-circuit control function. When the relay 30 is closed, V_IN and W_IN are connected to U_IN through the relay 30 and the mechanical switch 40, and U_IN, V_IN and W_IN are short-circuited with each other.

[0043] In this way, when the mechanical switch 40 is closed, the relay 30 can realize the short-circuit control function, and when the hub drive power supply circuit 200 loses power, the multiple phase line connection ends are short-circuited with each other.

[0044] Specifically, in Figure 2 When SW3 is disconnected, the connection between LM_W, LM_V and LM_U is disconnected. No matter whether SW1 and SW2 are closed or open, LM_W, LM_V and LM_U cannot be short-circuited. When the motor is controlled manually, whether the hub drive power supply circuit 200 is powered off or not, it does not affect the operation of the motor. At this time, SW3 can be controlled to be disconnected, the three-phase short-circuit function can be cancelled, and the relay 30 cannot realize the short-circuit control function, so as to avoid the reverse electromotive force generated by the three-phase short-circuit from affecting the operation of the motor.

[0045] Thus, when the mechanical switch 40 is disconnected, the relay 30 cannot realize the short-circuit control function, and no matter whether the hub drive power supply circuit 200 is powered off or not and whether the relay 30 is closed or not, the multiple phase line connection terminals cannot be short-circuited with each other.

[0046] In some embodiments, the control circuit of the hub motor further includes a detection circuit, and the detection circuit is used to detect the working status of the relay 30 and the mechanical switch 40 .

[0047] Specifically, Figure 2 SW3 in the circuit sends a detection signal to the detection circuit through the Hand_switch_det_L terminal. The detection circuit can determine whether SW3 is in an open state or a closed state through the signal at the Hand_switch_det_L terminal. Figure 2The FB_12V_L terminal in the circuit detects the working status of SW1 and SW2. The voltage at the FB_12V_L terminal can reflect the voltage of VCC_12V. When VCC_12V is powered on, a voltage is generated at the VCC_12V_R terminal, coils L1 and L2 are powered on, and SW1 and SW2 are disconnected. When VCC_12V is powered off, no voltage is generated at the VCC_12V_R terminal, coils L1 and L2 are not powered on, SW1 and SW2 are closed, and the detection circuit can determine whether SW1 and SW2 are in an open state or a closed state through the voltage at the FB_12V_L terminal. SW1 and SW2 can also reflect whether the wheel hub drive power supply circuit 200 is powered off or powered on, so the detection circuit can also detect the power supply voltage of the wheel hub drive power supply circuit 200, and detect whether the wheel hub drive power supply circuit 200 is in a powered off state or a powered on state through the FB_12V_L terminal.

[0048] Also refer to Figure 3 , 12V can be the power supply voltage of the driving circuit. When 12V is powered on, a voltage is generated at the 12V_det terminal. The detection circuit can detect the power-on status of the driving circuit by detecting the voltage at the 12V_det terminal. The detection circuit can determine whether SW3 is in an open state or a closed state through the signal at the hand_det terminal.

[0049] In this way, the detection circuit can detect the working status of the relay 30 and the mechanical switch 40 .

[0050] In some embodiments, the control circuit of the hub motor also includes a delay circuit, which is used to output a delay voltage within a preset time after the hub drive power circuit 200 is powered off, so that the switch control circuit 20 detects that the hub drive power circuit 200 is not powered off.

[0051] Specifically, Figure 2The VCC_12V in the figure can be the power supply voltage of the hub drive power supply circuit 200. Within the preset time after the VCC_12V is powered off, the VCC_12V_R terminal can still generate a delay voltage. The coil L1 and the coil L2 detect that the hub drive power supply circuit 200 is not powered off through the VCC_12V_R terminal. The VCC_12V_R terminal energizes the coil L1 and the coil L2. The relay 30 is in a disconnected state, and the multiple phase line connection terminals cannot be short-circuited with each other. When the hub drive power supply circuit 200 is powered off, other circuit modules may not have completely stopped working. The early short-circuiting of the hub drive power supply connection terminal 10 may cause energy loss in other circuit modules. In addition, other circuit modules may also send control signals to the external motor when they are not fully working, which will also affect the control of the motor to stop working. After the hub drive power supply circuit 200 is powered off for a preset time, it can be considered that all circuit modules have stopped working. At this time, the hub drive power supply connection terminal 10 is controlled to be short-circuited to control the motor to stop working.

[0052] In this way, after the hub drive power circuit 200 loses power, the delay circuit prevents the relay 30 from immediately realizing the short-circuit control function, thereby preventing the hub drive power connection terminal 10 from being short-circuited when other circuit modules are working, thereby causing energy loss and affecting the control motor to stop working.

[0053] In some embodiments, the delay circuit includes a discharge capacitor, which is used to discharge after the hub drive power supply circuit 200 loses power, and the voltage of the discharge capacitor is the delay voltage.

[0054] Specifically, Figure 2 The capacitor C1 in the circuit can be a discharge capacitor. When the hub drive power supply circuit 200 is powered on, the diode D1 is forward-conducted, the voltage of VCC_12V charges the capacitor C1 through the diode D1, the voltage of VCC_12V is connected to the VCC_12V_R terminal through the diode D1, the coil L1 and the coil L2 are energized, and the relay 30 is in an open state. After the hub drive power supply circuit 200 is powered off, the capacitor C1 is discharged, and the discharge voltage of the capacitor C1 is a delay voltage, which can keep the relay 30 in an open state for a period of time. Since the diode D1 is reversely cut off, the delay voltage of the capacitor C1 is connected to the VCC_12V_R terminal, the coil L1 and the coil L2 are energized, and the relay 30 remains in an open state. After the capacitor C1 is discharged, the delay voltage is no longer generated, the coil L1 and the coil L2 are no longer energized, and the relay 30 is in a closed state.

[0055] In this way, the discharge capacitor discharges after the hub drive power circuit 200 loses power, so that the relay 30 is disconnected within a preset time after the hub drive power circuit 200 loses power. After the discharge capacitor is discharged, the relay 30 is closed, thereby achieving delayed control of the relay 30.

[0056] See also Figure 4 An embodiment of the present invention provides a robot, the robot includes a hub motor 300 and a control circuit of the hub motor of any one of the above-mentioned embodiments, the hub drive power connection terminal 10 is connected to the hub motor 300, and the control circuit of the hub motor is used to output the hub drive power through the hub drive power connection terminal 10 to drive the hub motor 300.

[0057] Specifically, the switch control circuit 20 and the wheel hub drive power circuit 200 can be arranged on two circuit boards, and the switch control circuit 20 is connected to the wheel hub drive power circuit 200 through the wheel hub drive power connection terminal 10. The switch control circuit and the wheel hub drive power circuit 200 can also be arranged on the same circuit board. A recoverable mechanical switch 40 is provided on the circuit board to implement the short-circuit function. By controlling the closing / opening of the mechanical switch 40, the short-circuit function is controlled to be manually removed or enabled.

[0058] The wheel hub drive power supply circuit 200 is also connected to the wheel hub motor 300 through the wheel hub drive power supply connection terminal 10. The wheel hub drive power supply circuit 200 also outputs the wheel hub drive power supply to the power supply terminal of the wheel hub motor 300 through the wheel hub drive power supply connection terminal 10 to drive the wheel hub motor 300 to work. When the mechanical switch 40 is disconnected, the control circuit of the wheel hub motor does not enable the short-circuit function. When the mechanical switch 40 is closed, the control circuit of the wheel hub motor enables the short-circuit function. If the robot is in a power-off state, the switch control circuit 10 controls the phase line connection terminal of the phase line connected to the wheel hub drive power supply to be short-circuited, and the wheel hub motor 300 stops moving after a short time.

[0059] In this way, when the robot is in a power-off state, the robot can be safely braked by enabling the short-circuit function of the control circuit of the hub motor. The robot will not lose its self-control ability due to a sudden power failure, and will not be unable to maintain stability on its own, resulting in dangerous conditions such as sliding, colliding with surrounding objects, or falling. At the same time, the robot does not need to be additionally equipped with a brake device and a mechanical parking device, which makes the mechanical structure simpler. There is no need to increase the volume of the hub motor 300 due to changes in the mechanical structure, nor is there any need to additionally power the brake device, which also reduces costs and increases the robot's endurance.

[0060] In the control circuit and robot of the wheel hub motor of the embodiment of the present invention, the wheel hub drive power supply circuit 200 outputs the wheel hub drive power supply to the wheel hub motor 300 through the wheel hub power supply drive module 100, and the wheel hub power supply drive module 100 includes a wheel hub drive power supply connection terminal 10, and the wheel hub drive power supply circuit 200 outputs the wheel hub drive power supply through the wheel hub drive power supply connection terminal 10. The wheel hub drive power supply connection terminal 10 includes a phase line connection terminal, which is used to connect the phase line of the wheel hub drive power supply. When multiple phase line connection terminals are short-circuited, the output wheel hub drive power supply can generate a resistance to the reverse electromotive force to the wheel hub motor 300. The switch control circuit 20 can detect the power supply voltage of the wheel hub drive power supply circuit 200. When it is detected that the wheel hub drive power supply circuit 200 is powered off, the multiple phase line connection terminals are controlled to be short-circuited. At this time, the wheel hub drive power supply circuit 200 can generate a resistance to the reverse electromotive force to the connected wheel hub motor 300, preventing the wheel hub motor 300 from continuing to move forward. In this way, when the wheel hub drive power supply circuit 200 loses power, the operation of the wheel hub motor 300 can be stopped by the switch control circuit 20, so as to achieve the purpose of braking and parking, and there is no need to set up an additional brake device and a mechanical parking device, which makes the mechanical structure simpler. There is no need to increase the volume of the wheel hub motor 300 due to the change of the mechanical structure, and there is no need to supply power to the brake device, which also reduces the cost and increases the endurance of the equipment.

[0061] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples" or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0062] In addition, the term "connection" should be understood in a broad sense, for example, it can include fixed connection, detachable connection, or integral connection; it can include direct connection, indirect connection through an intermediate medium, and internal communication between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0063] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0064] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present invention belong.

[0065] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A control circuit of a hub motor, characterized in that: The control circuit of the wheel hub motor includes a wheel hub power drive module and a wheel hub drive power circuit; The wheel hub motor circuit is connected to the wheel hub drive power circuit through the wheel hub power drive module, wherein the wheel hub power drive module includes: A wheel hub drive power supply connection terminal, through which the wheel hub drive power supply circuit outputs the wheel hub drive power supply, and the wheel hub drive power supply connection terminal includes a phase line connection terminal connected to a phase line of the wheel hub drive power supply, and an interface of a power supply detection circuit for outputting a detection feedback signal of the power supply; A switch control circuit is used to detect the power supply voltage of the wheel hub drive power supply circuit, and when it is detected that the wheel hub drive power supply circuit is powered off, control the multiple phase line connection ends to be short-circuited with each other.

2. The control circuit according to claim 1, characterized in that: The switch control circuit comprises a relay, and the relay is used to close when the hub drive power supply circuit loses power, so as to control the multiple phase line connection ends to be short-circuited with each other.

3. The control circuit according to claim 2, characterized in that: The relay includes a coil, a first end of the coil is connected to the power supply voltage of the wheel hub drive power supply circuit, and a second end of the coil is grounded. The coil is used to detect the power supply voltage of the wheel hub drive power supply circuit. When it is detected that the wheel hub drive power supply circuit is powered off, the coil does not generate a current, so that the relay is closed.

4. The control circuit according to claim 3, characterized in that: The coil is also used to generate the energizing current when the wheel hub drive power supply circuit is not powered off, so that the relay is disconnected.

5. The control circuit according to claim 4, characterized in that: The switch control circuit further includes a freewheeling diode, a cathode of the freewheeling diode is connected to the first end of the coil, and an anode of the freewheeling diode is connected to the second end of the coil.

6. The control circuit according to claim 2, characterized in that: The switch control circuit further comprises a mechanical switch, and when the mechanical switch is closed, the relay is used to close when the hub drive power supply circuit loses power, and control the multiple phase line connection ends to be short-circuited with each other; The mechanical switch is also used to control the plurality of phase line connection terminals to prevent short-circuiting with each other when the mechanical switch is disconnected.

7. The control circuit according to claim 6, characterized in that: The wheel hub power drive module further includes a detection circuit, and the detection circuit is used to detect the working states of the relay and the mechanical switch.

8. The control circuit according to claim 1, characterized in that: The wheel hub power drive module further includes a delay circuit, which is used to output a delay voltage within a preset time after the wheel hub drive power circuit is powered off, so that the switch control circuit detects that the wheel hub drive power circuit is not powered off.

9. The control circuit according to claim 8, characterized in that: The delay circuit includes a discharge capacitor, which is used to discharge after the hub drive power supply circuit is powered off, and the voltage of the discharge capacitor is the delay voltage.

10. A robot, characterized in that: The robot includes a hub motor and a control circuit of the hub motor according to any one of claims 1 to 9, the hub drive power connection end is connected to the hub motor, and the control circuit of the hub motor is used to output the hub drive power through the hub drive power connection end to drive the hub motor.

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