Humanoid robot multichannel sudden stop control circuit and humanoid robot

Abstract

The invention discloses a humanoid robot multi-channel emergency stop control circuit and a humanoid robot, the humanoid robot multi-channel emergency stop control circuit comprises a controller, an emergency stop control channel, a first relay and a state detection circuit, the emergency stop control channel comprises an emergency stop control panel, a remote wired operation panel and a wireless control circuit, the state detection circuit comprises an I / O port of the controller, and the I / O port is connected to the emergency stop control board and used for detecting the state of the emergency stop control channel. When any one of the remote wired operation panel, the wireless control circuit and the emergency stop control panel is in an open circuit state, the I / O port is a first detection signal; and when the remote wired operation panel, the wireless control circuit and the emergency stop control panel are all in the on state, the I / O port provides a second detection signal. Through multi-channel cooperative control, real-time state feedback and a multi-condition logic judgment mechanism, the problems that a traditional sudden stop system is high in single-point fault risk and insufficient in state monitoring are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a multi-channel emergency stop control circuit for a humanoid robot and the humanoid robot. Background Art

[0002] In the field of humanoid robot safety control, the reliability of the emergency stop system is the core to ensure the safe operation of the equipment. Traditional emergency stop control solutions usually use a single wired emergency stop button or basic wireless signal control, such as implementing the emergency stop function through an on-site emergency stop control loop. Please refer to Figure 1 As shown, it mainly includes a controller, an emergency stop control board, that is, an on-site emergency stop control button, and a relay for controlling the power supply of the actuator. The power supply end of the controller, such as a +5V power supply, is recorded as the second power supply, which is connected to the first input end of the relay through the emergency stop control board, and the power supply of the actuator (recorded as the first power supply) is grounded after passing through the actuator through the control switch of the relay. The output end of the controller is used to realize software control of the relay, which is connected to the second output end of the relay. When the emergency stop control board disconnects the connection between the power supply end of the controller and the relay, the relay loses power and the control switch of the relay disconnects the connection between the first power supply and the actuator. The actuator can only work when the output end of the main controller outputs a low level and the power supply end of the controller and the first input end of the relay form a path. This type of design has the following significant problems: 1. High risk of single point failure: If only relying on a single control channel (such as on-site control, remote wired control or wireless signal), when the channel is disconnected, signal interference or hardware failure, the system cannot trigger an emergency stop in time, resulting in the risk of the robot losing control.

[0003] 2. Insufficient status monitoring: Existing technologies mostly judge the emergency stop status through simple on-off signals, and lack the ability to detect the working status of multiple channels (such as on-site control, remote wired control or wireless signals) in real time. In summary, there is an urgent need for an emergency stop control circuit with multi-channel control, real-time status feedback and redundant protection capabilities. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention aims to provide a humanoid robot multi-channel emergency stop control circuit and a humanoid robot to solve the problems of low reliability and inability to perform state monitoring in the prior art.

[0005] The purpose of the present invention is achieved by the following technical solutions: A multi-channel emergency stop control circuit for a humanoid robot comprises a controller, an emergency stop control channel, a first relay and a state detection circuit, wherein the emergency stop control channel comprises an emergency stop control board, a remote wired operation panel and a wireless control circuit; the two ends of the remote wired operation panel and the wireless control circuit connected in series with the emergency stop control board are respectively connected to the power supply end of the controller and the first input end of the first relay, the output end of the controller is connected to the second input end of the first relay, the first output end of the first relay is connected to the first power supply, the second output end of the first relay is grounded after passing through an actuator, and the state detection circuit comprises an I / O port of the controller, the I / O port is connected to the emergency stop control board, and is used to detect the state of the emergency stop control channel; When any one of the remote wired operation panel, the wireless control circuit and the emergency stop control board is in an open circuit state, the I / O port is a first detection signal; when the remote wired operation panel, the wireless control circuit and the emergency stop control board are all in an open circuit state, the I / O port is a second detection signal.

[0006] The present invention solves the problems of high single-point failure risk and insufficient status monitoring of the traditional emergency stop system through multi-channel collaborative control, real-time status feedback and multi-conditional logic judgment mechanism, and significantly improves the operational safety and operation and maintenance efficiency of the humanoid robot. Specifically, through the series design of the remote wired operation panel, the wireless control circuit and the emergency stop control board, the triple control redundancy of "remote wired control + remote wireless control + on-site control" is realized. Through the series design of the remote wired operation panel (for remote wired control), the wireless control circuit (for remote wireless control) and the emergency stop control board (for on-site control), the triple control redundancy of "remote wired control + remote wireless control + on-site control" is realized. When the humanoid robot needs to be urgently stopped, that is, the actuator needs to be controlled not to work, any emergency stop control channel (on-site control, remote wired control or wireless signal) can be used to forcibly cut off the actuator power supply to avoid the risk of system loss of control caused by a single point failure; and the working status of the emergency stop control channel is monitored in real time through the I / O port of the controller. On the one hand, when the first detection signal is detected, the output end of the controller is controlled to output a high level, so that the first relay is completely disconnected to avoid misoperation. On the other hand, when the first detection signal is detected, an alarm signal can be output to the outside through an alarm or the like, so that the debugging personnel can understand the current status.

[0007] In a preferred embodiment, the emergency stop control panel includes a linkage switch and a second relay; wherein the linkage switch includes a first moving contact, a second moving contact, a first contact switch, a second contact switch, and a first static contact, a second static contact, a third static contact, and a fourth static contact; the second relay includes a third moving contact, a fourth moving contact, a fifth static contact, a sixth static contact, a seventh static contact, an eighth static contact, a second relay coil, and a third contact switch and a fourth contact switch matched with the second relay coil; The first moving contact is connected to the power supply terminal of the controller, the second moving contact is grounded, the first contact switch and the second contact switch are connected to the first moving contact and the second moving contact respectively, the third contact switch and the fourth contact switch are connected to the third moving contact and the fourth moving contact respectively; the third static contact is suspended, the first static contact, the second static contact and the fourth static contact are connected to the sixth static contact, the third moving contact and the fourth moving contact respectively, the fifth static contact is connected to the first input terminal of the first relay, the seventh static contact is connected to the I / O port, and the eighth static contact is suspended; The remote wired operation panel and the wireless control circuit are respectively provided with a second normally open switch and a third normally open switch, one end of the second normally open switch and the third normally open switch are both connected to the power supply end of the controller through the second relay coil, and the other ends of the second normally open switch and the third normally open switch are both grounded; When the linkage switch pops up, the first moving contact and the second moving contact are connected to the second static contact and the fourth static contact through the first contact switch and the second contact switch, respectively; when the linkage switch is pressed, the first moving contact and the second moving contact are connected to the first static contact and the third static contact through the first contact switch and the second contact switch, respectively; When the second relay coil is demagnetized, the third moving contact and the fourth moving contact are connected to the fifth stationary contact and the seventh stationary contact respectively through the third contact switch and the fourth contact switch; when the second relay coil is energized, the third moving contact and the fourth moving contact are connected to the sixth stationary contact and the eighth stationary contact respectively through the third contact switch and the fourth contact switch.

[0008] The linkage switch, the second normally open switch and the third normally open switch all have two states. When the linkage switch, the second normally open switch and the third normally open switch are all in the pop-up (disconnected) state and the output end of the controller is at a low level, the second relay coil is not excited. At this time, the connection relationship of the entire circuit is: The power supply end of the controller is connected to the first input end of the first relay through the first moving contact, the second static contact, the third moving contact, and the sixth static contact. Since the output end of the controller is at a low level, the control element of the first relay works, so that the control switch of the first relay is closed, and the first power supply supplies power to the actuator. At this time, the actuator is in a working state.

[0009] Through the coordinated control of the linkage switch and the multi-contacts of the second relay, a multiple physical disconnection mechanism is formed. When the linkage switch is pressed (emergency stop trigger), or / and the second relay coil is energized, the fifth static contact will be suspended, causing the control switch of the first relay to be disconnected.

[0010] Specifically, when any of the linkage switch, the second normally open switch, and the third normally open switch is in the pressed (closed) state or the controller output is at a high level, the actuator power supply can be forcibly cut off to avoid the risk of system out of control caused by a single point failure, which is specifically manifested in the following situations: Scenario 1: When the linkage switch is pressed, the power supply end of the controller is connected to the suspended third static contact via the first moving contact. No matter whether the second normally open switch and the third normally open switch are popped up or pressed, and no matter whether the output end of the controller is at a high level or a low level, the control element of the first relay does not work, causing its control switch to be disconnected, and the actuator is in a non-working state due to power failure.

[0011] Scenario 2: The second normally open switch and / or the third normally open switch is pressed, the third moving contact is connected to the sixth static contact, the second relay coil is energized, no matter whether the linkage switch is popped up or pressed, the fifth static contact is in a suspended state, no matter whether the controller output is at a high level or a low level, the control element of the first relay does not work, so that its control switch is disconnected, and the actuator is in a non-working state due to power failure.

[0012] In addition, the I / O port is cleverly connected to the seventh static contact of the second relay to provide real-time feedback on the working status of the emergency stop control channel. Only when the linkage switch, the second normally open switch and the third normally open switch are all in the pop-up (disconnected) state, the I / O port receives a low-level signal. When any of the linkage switch, the second normally open switch and the third normally open switch is in the pressed (closed) state, the I / O port is suspended and receives a high-level signal, which makes it easier for debugging personnel to understand the current status and improve operation and maintenance efficiency.

[0013] In a preferred embodiment, the emergency stop control panel further includes a status indicator light, one end of which is connected to the first static contact and the sixth static contact, and the other end of which is grounded.

[0014] The status indicator light is used to display the working status of the emergency stop control channel in real time, realize status visualization, and improve the intuitiveness of operation. The status indicator light is connected to the first static contact and the sixth static contact, and cleverly utilizes the contact coordination mode of the linkage switch and the second relay to achieve that the status indicator light is off only when the linkage switch, the second normally open switch and the third normally open switch are all in the pop-up (disconnected) state, and when any one of the linkage switch, the second normally open switch and the third normally open switch is in the pressed (closed) state, the status indicator light is on. For example, a red light can be used to attract the attention of debuggers or users.

[0015] For example, when the linkage switch is in a pressed state, regardless of whether the second normally open switch and the third normally open switch are closed, the power supply end, the first moving contact, the first static contact and the status indicator light of the controller form a closed loop, and the status indicator light lights up after power is turned on; when the second normally open switch and / or the third normally open switch are in a pressed state, if the linkage switch is in a pop-up state, the second relay coil is energized, and the power supply end, the first moving contact, the second static contact, the third moving contact, the sixth static contact and the status indicator light of the controller form a closed loop, and the status indicator light lights up after power is turned on.

[0016] In a preferred embodiment, the wireless control circuit includes a remote wireless operation panel and a wireless receiver wirelessly connected to the remote wireless operation panel, the third normally open switch is located in the wireless receiver, and when the remote wireless operation panel sends a first signal or does not send a signal to the wireless receiver, the third normally open switch is in an open state, and when the remote wireless operation panel sends a second signal to the wireless receiver, the third normally open switch is in a closed state.

[0017] Whether the third normally open switch is closed (pressed) or not can be controlled by the remote wireless operation panel. The wireless communication method between the remote wireless operation panel and the wireless receiver can be any one of Bluetooth, infrared, WIFI and radio frequency. For example, a touch or mechanical button can be set on the remote wireless operation panel. When the button is popped up, the remote wireless operation panel does not send a wireless signal to the wireless receiver or sends a first signal, such as a high level, then the wireless receiver does not control the third normally open switch, so that the third normally open switch is in an open state. If the button is pressed, the remote wireless operation panel sends a second signal, such as a low level, to the wireless receiver, then the wireless receiver controls the third normally open switch, so that the third normally open switch is in a closed state.

[0018] In a preferred embodiment, the first relay includes a control element and a control switch coordinated with the control element; two ends of the control element are respectively connected to a first input end of the first relay and a second input end of the first relay; two ends of the control switch are respectively connected to a first output end of the first relay and a second output end of the first relay, and when the control element is powered off, the control switch is in an open state, and when the control element is powered on, the control switch is in a closed state.

[0019] There are many ways to implement the first relay, preferably a solid-state relay can be used, whose control element is a photodiode, and the control switch can be a power transistor, a unidirectional thyristor, a bidirectional thyristor, a power field effect transistor, an insulated gate bipolar transistor, etc. Since the solid-state relay (SSR) controls the on and off of semiconductor devices (such as thyristors) through photodiodes and has no physical contacts, it completely avoids the failure problems caused by oxidation, adhesion or wear of traditional electromagnetic relay contacts, and can eliminate the risk of mechanical failure. It is especially suitable for high-frequency emergency stop triggering scenarios. On the other hand, the requirements for software-controlled emergency stop are relatively simple, and the photodiode and the output end of the controller are coupled through optical signals to achieve complete electrical isolation of the input and output circuits, blocking the crosstalk of electromagnetic interference to the control signal, and improving the stability of emergency stop command transmission.

[0020] Of course, in other embodiments, the first relay may also be an electromagnetic relay. In this case, the control element is the first relay coil, and the control switch is the armature matched with the first relay coil.

[0021] In a preferred embodiment, the output end of the controller is also connected to an electronic switch, the control end of the electronic switch is connected to the control end of the controller, the output end of the electronic switch is grounded, and the input end of the electronic switch is connected to the output end of the controller.

[0022] The output end of the controller can control whether the control component of the first relay is energized through high and low levels. When the output end of the controller outputs a high level, even if the first input end of the first relay is at a high level, as long as the high level of the first input end is not greater than the high level output by the output end of the controller, or the difference between the high level of the first input end and the high level output by the output end of the controller is not enough to make the control component of the first relay work, for example, when the turn-on voltage of the photodiode is 2.0V, assuming that the power supply end of the controller outputs a +5V voltage and the output end of the controller outputs a +3.3V voltage, the first relay will still not work.

[0023] The high and low levels of the output of the controller output can be realized by an electronic switch, which can be a triode, MOS tube, thyristor, etc. On the one hand, the controller output can output high and low levels according to the conduction characteristics of the electronic switch. On the other hand, it can also play an anti-interference and reverse current protection role. Taking the triode as an example, the collector-emitter of the NPN triode is in a high impedance state in the cut-off state, which effectively blocks the reverse current of the first relay control component or the external circuit from interfering with the controller output, and avoids damage to the controller chip due to voltage backflow. At the same time, the base series current limiting resistor (implicit in the controller drive end) can suppress high-frequency noise and improve signal transmission stability.

[0024] When an NPN transistor is used, the base, collector and emitter of the NPN transistor respectively constitute the control end, input end and output end of the electronic switch, that is, the base of the NPN transistor is connected to the control end of the controller, the emitter of the NPN transistor is grounded, and the collector of the NPN transistor is connected to the output end of the controller.

[0025] In a preferred embodiment, the I / O port is further connected to a second power supply via a resistor, and the second power supply is connected to a power supply terminal of the controller.

[0026] The I / O port is cleverly connected to the seventh static contact of the second relay, which has a similar function to the status indicator light. The additional power supply of the I / O port is mainly used to ensure the stability of the signal level and increase the anti-interference ability. The I / O port is connected to the second power supply (the same source as the power supply end of the controller) through a resistor to form a stable pull-up or pull-down level. For example: when the linkage switch, the second normally open switch and the third normally open switch are all in the pop-up (disconnected) state, the I / O port is pulled to a low level (grounded) to ensure the clarity and anti-interference of the status detection signal (first detection signal) and reduce the probability of misjudgment; when the linkage switch, the second normally open switch and the third normally open switch are in the pressed (closed) state, the I / O port maintains a high level (powered by the second power supply) through a resistor to avoid random noise interference caused by the line being suspended.

[0027] A humanoid robot comprises the above-mentioned multi-channel emergency stop control circuit for the humanoid robot.

[0028] The drawings in the specification, which constitute a part of this application, are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a principle block diagram of the emergency stop control circuit of a humanoid robot in the prior art; Figure 2It is a principle block diagram of a multi-channel emergency stop control circuit of a humanoid robot of the present invention; Figure 3 for Figure 2 The corresponding specific circuit schematic diagram.

[0030] In the figure: 10, controller; 20, emergency stop control panel; 30, remote wired operation panel; 40, wireless control circuit; 41, remote wireless operation panel; 42, wireless receiver; 50, first relay; 60, actuator. DETAILED DESCRIPTION

[0031] Below, in conjunction with the accompanying drawings and specific embodiments, the present invention is further described. It should be noted that, under the premise of no conflict, the various embodiments described below or the various technical features can be arbitrarily combined to form a new embodiment. Except for special instructions, the materials and equipment used in this embodiment can be purchased from the market. Examples of embodiments are shown in the accompanying drawings, in which 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 application, and the limitations of the present application cannot be understood.

[0032] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In the description of the present application, "plurality" means two or more, unless otherwise precisely and specifically specified.

[0033] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "connected", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, or it can be connected through an intermediary medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0034] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0035] Please refer to Figure 2-3 As shown, a multi-channel emergency stop control circuit of a humanoid robot of the present invention includes a multi-channel emergency stop control circuit of a humanoid robot, which includes a controller 10 (MCU), an emergency stop control channel, a first relay 50 and a state detection circuit, wherein the emergency stop control channel includes an emergency stop control board 20, a remote wired operation panel 30 and a wireless control circuit 40; the two ends of the remote wired operation panel 30 and the wireless control circuit 40 connected in series with the emergency stop control board 20 are respectively connected to the power supply end of the controller 10 and the first input end of the first relay 50, the output end of the controller 10 is connected to the second input end of the first relay 50, the first output end of the first relay 50 is connected to the first power supply (BAT), and the second output end of the first relay 50 is grounded after passing through the actuator 60, and the state detection circuit includes an I / O port of the controller 10, and the I / O port is connected to the emergency stop control board 20, and is used to detect the state of the emergency stop control channel; When any one of the remote wired operation panel 30, the wireless control circuit 40 and the emergency stop control board 20 is in an open circuit state (all indicating that the emergency stop control channel is disconnected and the actuator stops working), the I / O port is a first detection signal; when the remote wired operation panel 30, the wireless control circuit 40 and the emergency stop control board 20 are all in a connected state, the I / O port is a second detection signal.

[0036] The controller 10 mainly functions as a power management function, providing power for the control components of the first relay 50, the emergency stop control board 20, the wireless receiver 42, etc., and the output voltage (VCC) of the power supply terminal can be +5V or other voltage values. The output terminal of the controller is mainly used for soft control of whether the actuator 60 works or not, that is, when the control terminal of the controller 10 outputs a high level, the actuator 60 does not work regardless of the working state of the emergency stop control channel. Therefore, under normal circumstances, it is necessary to ensure that the output terminal of the controller 10 outputs a low level. Only when the controller 10 obtains the first detection signal through the I / O port or needs to perform soft control, the output terminal of the controller 10 will be controlled to output a low level.

[0037] The present invention solves the problems of high single-point failure risk and insufficient status monitoring of traditional emergency stop systems through multi-channel collaborative control, real-time status feedback and multi-conditional logical judgment mechanism, and significantly improves the operating safety and operation and maintenance efficiency of humanoid robots.

[0038] The series design of the remote wired operation panel 30 (for remote wired control), the wireless control circuit 40 (for remote wireless control) and the emergency stop control panel 20 (for on-site control) realizes the triple control redundancy of "remote wired control + remote wireless control + on-site control". When the humanoid robot needs to be stopped urgently, that is, when the actuator 60 needs to be controlled not to work, any emergency stop control channel (on-site control, remote wired control or wireless signal) can be used to forcibly cut off the power supply of the actuator 60 to avoid the risk of system out of control caused by single point failure; and the working state of the emergency stop control channel is monitored in real time through the I / O port of the controller 10. On the one hand, when the first detection signal is detected, the output end of the controller 10 is controlled to output a high level, so that the first relay 50 is completely disconnected to avoid misoperation. On the other hand, when the first detection signal is detected, an alarm signal can be output to the outside through an alarm or the like, so that the debugging personnel can understand the current state.

[0039] The first relay 50 includes a control component and a control switch coordinated with the control component; the two ends of the control component are respectively connected to the first input end of the first relay 50 and the second input end of the first relay 50; the two ends of the control switch are respectively connected to the first output end of the first relay 50 and the second output end of the first relay 50. When the control component is powered off, the control switch is in an open state, and when the control component is powered on, the control switch is in a closed state.

[0040] There are many ways to implement the first relay 50, preferably a solid-state relay (SSR) can be used, and its control element is a photodiode, and the control switch can be any one of semiconductor devices such as power transistor, unidirectional thyristor, bidirectional thyristor, power field effect transistor, insulated gate bipolar transistor, etc. The positive and negative electrodes of the photodiode form the first input terminal and the second input terminal of the first relay 50, respectively, and the positive and negative electrodes of the control switch form the first output terminal and the second output terminal of the first relay 50, respectively.

[0041] Since the solid-state relay controls the on and off of semiconductor devices (such as thyristors) through photodiodes and has no physical contacts, it completely avoids failure problems caused by oxidation, adhesion or wear of traditional electromagnetic relay contacts, and can eliminate the risk of mechanical failure. It is especially suitable for scenarios with high-frequency emergency stop triggers. On the other hand, the requirements for software-controlled emergency stop are relatively simple, and the photodiode and the output end of the controller 10 are coupled through optical signals to achieve complete electrical isolation of the input and output circuits, blocking electromagnetic interference from crosstalking the control signal and improving the stability of emergency stop command transmission.

[0042] Of course, in other embodiments, the first relay 50 may also be an electromagnetic relay. In this case, the control element is the first relay coil, and the control switch is the armature matched with the first relay coil.

[0043] The output end of the controller 10 can control whether the control component of the first relay 50 is energized or not through high and low levels. When the output end of the controller 10 outputs a high level, even if the first input end of the first relay 50 is a high level, as long as the high level of the first input end is not greater than the high level output by the output end of the controller 10, or the difference between the high level of the first input end and the high level output by the output end of the controller 10 is not enough to make the control component of the first relay 50 work, for example, when the turn-on voltage of the photodiode is 2.0V, assuming that the power supply end of the controller 10 outputs a +5V voltage and the output end of the controller 10 outputs a +3.3V voltage, the first relay 50 will still not work.

[0044] The high and low levels outputted from the output end of the controller 10 can be realized by an electronic switch, which can be realized by a triode, a MOS tube, a thyristor, etc. The control end of the electronic switch is connected to the control end of the controller 10, the output end of the electronic switch is grounded, and the input end of the electronic switch is connected to the output end of the controller 10. On the one hand, the output end of the controller 10 can output high and low levels according to the conduction characteristics of the electronic switch, and on the other hand, it can also play an anti-interference and reverse current protection role. Taking the NPN triode as an example, the NPN triode is in the cut-off state, and the collector-emitter is in a high impedance state, which effectively blocks the reverse current of the first relay 50 control component or the external circuit from interfering with the output end of the controller 10, and avoids the damage of the controller 10 chip due to voltage backflow. At the same time, the base series current limiting resistor (implicit in the controller drive end) can suppress high-frequency noise and improve the stability of signal transmission.

[0045] When the NPN transistor Q1 is used, the base, collector and emitter of the NPN transistor respectively constitute the control end, input end and output end of the electronic switch, that is, the base of the NPN transistor is connected to the control end of the controller 10, the emitter of the NPN transistor is grounded, and the collector of the NPN transistor is connected to the output end of the controller 10.

[0046] Please refer to Figure 3As shown, the emergency stop control panel 20 includes a linkage switch KEY1 and a second relay U1; wherein the linkage switch includes a first moving contact (pin 1 of the linkage switch KEY1), a second moving contact (pin 2 of the linkage switch KEY1), a first contact switch, a second contact switch, and a first static contact (pin 3 of the linkage switch KEY1), a second static contact (pin 4 of the linkage switch KEY1), a third static contact (pin 5 of the linkage switch KEY1), and a fourth static contact (pin 6 of the linkage switch KEY1); the second relay includes a third moving contact (pin 3 of the second relay U1), a fourth moving contact (pin 7 of the second relay U1), a fifth static contact (pin 2 of the second relay U1), a sixth static contact (pin 4 of the second relay U1), a seventh static contact (pin 6 of the second relay U1), an eighth static contact (pin 8 of the second relay U1), a second relay coil, and a third contact switch and a fourth contact switch matched with the second relay coil; The first moving contact is connected to the power supply terminal of the controller 10, the second moving contact is grounded, the first contact switch and the second contact switch are connected to the first moving contact and the second moving contact respectively, the third contact switch and the fourth contact switch are connected to the third moving contact and the fourth moving contact respectively; the third static contact is suspended, the first static contact, the second static contact and the fourth static contact are connected to the sixth static contact, the third moving contact and the fourth moving contact respectively, the fifth static contact is connected to the first input terminal of the first relay 50, the seventh static contact is connected to the I / O port, and the eighth static contact is suspended; The remote wired operation panel 30 and the wireless control circuit 40 are respectively provided with a second normally open switch KEY2 and a third normally open switch KEY3. One end of the second normally open switch and the third normally open switch are connected to the power supply end of the controller 10 through the 5th pin of the second relay U1, the second relay coil, and the 1st pin of the second relay U1, and the other end of the second normally open switch and the third normally open switch are grounded.

[0047] When the linkage switch pops up (indicating that the emergency stop control channel is disconnected, and the second normally open switch or the third normally open switch pops up also indicating that the emergency stop control channel is disconnected), the first moving contact and the second moving contact are connected to the second static contact and the fourth static contact respectively through the first contact switch and the second contact switch; when the linkage switch is pressed, the first moving contact and the second moving contact are connected to the first static contact and the third static contact respectively through the first contact switch and the second contact switch.

[0048] When the second relay coil is demagnetized, the third moving contact and the fourth moving contact are connected to the fifth stationary contact and the seventh stationary contact respectively through the third contact switch and the fourth contact switch; when the second relay coil is energized, the third moving contact and the fourth moving contact are connected to the sixth stationary contact and the eighth stationary contact respectively through the third contact switch and the fourth contact switch.

[0049] The second normally open switch is placed on the remote wired control panel. The interfaces at both ends of the second normally open switch can use aviation connectors. At the same time, a 3-meter or even longer extension line is used to connect one end of the second normally open switch to the emergency stop control panel 20 to improve the connection reliability and provide dust cap protection.

[0050] The linkage switch, the second normally open switch and the third normally open switch all have two states. When the linkage switch, the second normally open switch and the third normally open switch are all in the pop-up (disconnected) state, and the output terminal of the controller 10 is at a low level, the second relay coil is not excited. At this time, the connection relationship of the entire circuit is: The power supply end of the controller 10 is connected to the first input end of the first relay 50 through the first moving contact, the second static contact, the third moving contact, and the sixth static contact. Since the output end of the controller 10 is at a low level, the control element of the first relay 50 works, so that the control switch of the first relay 50 is closed, and the first power supply supplies power to the actuator 60. At this time, the actuator 60 is in a working state.

[0051] Through the coordinated control of the linkage switch and the multi-contacts of the second relay, a multiple physical disconnection mechanism is formed. When the linkage switch is pressed (emergency stop trigger), or / and the second relay coil is excited, the fifth static contact will be suspended, so that the control switch of the first relay 50 is disconnected.

[0052] Specifically, when any one of the linkage switch, the second normally open switch and the third normally open switch is in a pressed (closed) state or the output terminal of the controller 10 is at a high level, the power supply of the actuator 60 can be forcibly cut off to avoid the risk of system out of control caused by a single point failure, which is specifically manifested in the following situations: Scenario 1: When the linkage switch is pressed, the power supply end of the controller 10 is connected to the suspended third static contact via the first moving contact. No matter whether the second normally open switch and the third normally open switch are popped up or pressed, and no matter whether the output end of the controller 10 is at a high level or a low level, the control element of the first relay 50 does not work, so that its control switch is disconnected, and the actuator 60 is in a non-working state due to power failure.

[0053] Scenario 2: the second normally open switch and / or the third normally open switch is pressed, the third moving contact is connected to the sixth static contact, the second relay coil is energized, and no matter whether the linkage switch is popped up or pressed, the fifth static contact is in a suspended state, no matter whether the output end of the controller 10 is at a high level or a low level, the control element of the first relay 50 does not work, so that its control switch is disconnected, and the actuator 60 is in a non-working state due to power failure.

[0054] In addition, the I / O port is cleverly connected to the seventh static contact of the second relay to provide real-time feedback on the working status of the emergency stop control channel. Only when the linkage switch, the second normally open switch and the third normally open switch are all in the pop-up (disconnected) state, the I / O port receives a low-level signal. When any of the linkage switch, the second normally open switch and the third normally open switch is in the pressed (closed) state, the I / O port is suspended and receives a high-level signal, which makes it easier for debugging personnel to understand the current status and improve operation and maintenance efficiency.

[0055] The I / O port is also connected to the second power supply through a resistor, and the second power supply is connected to the power supply terminal of the controller 10. The additional power supply of the I / O port is mainly used to ensure the stability of the signal level and increase the anti-interference ability. The I / O port is connected to the second power supply (the same source as the power supply terminal of the controller 10) through a resistor to form a stable pull-up or pull-down level. For example: when the linkage switch, the second normally open switch and the third normally open switch are all in the pop-up (disconnected) state, the I / O port is pulled to a low level (grounded) to ensure the clarity and anti-interference of the state detection signal (first detection signal) and reduce the probability of misjudgment; when the linkage switch, the second normally open switch and the third normally open switch are in the pressed (closed) state, the I / O port maintains a high level (powered by the second power supply) through a resistor to avoid random noise interference caused by the line being suspended.

[0056] Please refer to Figure 3 As shown, the emergency stop control panel 20 also includes a status indicator LED, which is used to display the working status of the emergency stop control channel in real time, realize status visualization, and improve the intuitiveness of operation. The other end of the status indicator is grounded, and one end of the status indicator is connected to the first static contact and the sixth static contact. The contact matching mode of the linkage switch and the second relay is cleverly used to achieve that only when the linkage switch, the second normally open switch and the third normally open switch are all in the pop-up (disconnected) state, that is, when the actuator 60 is working, the status indicator is in the extinguished state, and when any one of the linkage switch, the second normally open switch and the third normally open switch is in the pressed (closed) state, the status indicator is in the lit state, for example, a red light can be used to attract the attention of the debugger or the user.

[0057] For example, when the linkage switch is in a pressed state, regardless of whether the second normally open switch and the third normally open switch are closed, the power supply end, the first moving contact, the first static contact and the status indicator light of the controller 10 form a closed loop, and the status indicator light lights up after power is turned on; when the second normally open switch and / or the third normally open switch is in a pressed state, if the linkage switch is in a pop-up state, the second relay coil is energized, and the power supply end, the first moving contact, the second static contact, the third moving contact, the sixth static contact and the status indicator light of the controller 10 form a closed loop, and the status indicator light lights up after power is turned on.

[0058] Please refer to Figure 3 As shown, the wireless control circuit 40 includes a remote wireless operation panel 41 and a wireless receiver 42 wirelessly connected to the remote wireless operation panel 41. The third normally open switch is located in the wireless receiver 42. When the remote wireless operation panel 41 sends a first signal to the wireless receiver 42 or does not send a signal, the third normally open switch is in an open state. When the remote wireless operation panel 41 sends a second signal to the wireless receiver 42, the third normally open switch is in a closed state.

[0059] Whether the third normally open switch is closed (pressed) or not can be controlled by the remote wireless operation panel 41. The wireless communication method between the remote wireless operation panel 41 and the wireless receiver 42 can be any one of Bluetooth, infrared, WIFI and radio frequency. For example, a touch or mechanical button can be set on the remote wireless operation panel 41. When the button is popped up, the remote wireless operation panel 41 does not send a wireless signal to the wireless receiver 42 or sends a first signal, such as a high level, then the wireless receiver 42 does not control the third normally open switch, so that the third normally open switch is in an open state. If the button is pressed, the remote wireless operation panel 41 sends a second signal, such as a low level, to the wireless receiver 42, then the wireless receiver 42 controls the third normally open switch, so that the third normally open switch is in a closed state.

[0060] The humanoid robot of the present invention includes the above-mentioned humanoid robot multi-channel emergency stop control circuit. Other structures of the humanoid robot are the same as those in the prior art and will not be described in detail here.

[0061] Although only certain components and embodiments of the present application have been illustrated and described, many modifications and changes may be conceived by those skilled in the art without actually departing from the scope and spirit of the claims, such as changes in the size, dimensions, structure, shape and proportion of the various elements, mounting arrangements, material usage, color, orientation, etc.

[0062] The above implementation modes are only preferred implementation modes of the embodiments of the present invention and cannot be used to limit the protection scope of the embodiments of the present invention. Any non-substantial changes and replacements made by technicians in this field on the basis of the embodiments of the present invention shall fall within the scope of protection required by the embodiments of the present invention.

Claims

1. Multi-channel emergency stop control circuit of humanoid robot, characterized in that: It includes a controller, an emergency stop control channel, a first relay and a state detection circuit, wherein the emergency stop control channel includes an emergency stop control board, a remote wired operation panel and a wireless control circuit; the two ends of the remote wired operation panel and the wireless control circuit connected in series with the emergency stop control board are respectively connected to the power supply end of the controller and the first input end of the first relay, the output end of the controller is connected to the second input end of the first relay, the first output end of the first relay is connected to the first power supply, the second output end of the first relay is grounded after passing through an actuator, and the state detection circuit includes an I / O port of the controller, the I / O port is connected to the emergency stop control board, and is used to detect the state of the emergency stop control channel; When any one of the remote wired operation panel, the wireless control circuit and the emergency stop control board is in an open circuit state, the I / O port is a first detection signal; when the remote wired operation panel, the wireless control circuit and the emergency stop control board are all in an open circuit state, the I / O port is a second detection signal.

2. The multi-channel emergency stop control circuit of a humanoid robot as claimed in claim 1, characterized in that: The emergency stop control panel includes a linkage switch and a second relay; wherein the linkage switch includes a first moving contact, a second moving contact, a first contact switch, a second contact switch, and a first static contact, a second static contact, a third static contact, and a fourth static contact; the second relay includes a third moving contact, a fourth moving contact, a fifth static contact, a sixth static contact, a seventh static contact, an eighth static contact, a second relay coil, and a third contact switch and a fourth contact switch matched with the second relay coil; The first moving contact is connected to the power supply terminal of the controller, the second moving contact is grounded, the first contact switch and the second contact switch are connected to the first moving contact and the second moving contact respectively, the third contact switch and the fourth contact switch are connected to the third moving contact and the fourth moving contact respectively; the third static contact is suspended, the first static contact, the second static contact and the fourth static contact are connected to the sixth static contact, the third moving contact and the fourth moving contact respectively, the fifth static contact is connected to the first input terminal of the first relay, the seventh static contact is connected to the I / O port, and the eighth static contact is suspended; The remote wired operation panel and the wireless control circuit are respectively provided with a second normally open switch and a third normally open switch, one end of the second normally open switch and the third normally open switch are both connected to the power supply end of the controller through the second relay coil, and the other ends of the second normally open switch and the third normally open switch are both grounded; When the linkage switch pops up, the first moving contact and the second moving contact are connected to the second static contact and the fourth static contact through the first contact switch and the second contact switch, respectively; when the linkage switch is pressed, the first moving contact and the second moving contact are connected to the first static contact and the third static contact through the first contact switch and the second contact switch, respectively; When the second relay coil is demagnetized, the third moving contact and the fourth moving contact are connected to the fifth stationary contact and the seventh stationary contact respectively through the third contact switch and the fourth contact switch; when the second relay coil is energized, the third moving contact and the fourth moving contact are connected to the sixth stationary contact and the eighth stationary contact respectively through the third contact switch and the fourth contact switch.

3. The multi-channel emergency stop control circuit of a humanoid robot as claimed in claim 2, characterized in that: The emergency stop control panel further includes a status indicator light, one end of which is connected to the first static contact and the sixth static contact, and the other end of which is grounded.

4. The multi-channel emergency stop control circuit of a humanoid robot as claimed in claim 2, characterized in that: The wireless control circuit includes a remote wireless operation panel and a wireless receiver wirelessly connected to the remote wireless operation panel. The third normally open switch is located in the wireless receiver. When the remote wireless operation panel sends a first signal or does not send a signal to the wireless receiver, the third normally open switch is in an open state. When the remote wireless operation panel sends a second signal to the wireless receiver, the third normally open switch is in a closed state.

5. The multi-channel emergency stop control circuit of a humanoid robot according to any one of claims 1 to 4, characterized in that: The first relay includes a control component and a control switch coordinated with the control component; two ends of the control component are respectively connected to a first input end of the first relay and a second input end of the first relay; two ends of the control switch are respectively connected to a first output end of the first relay and a second output end of the first relay, when the control component is powered off, the control switch is in an open state, and when the control component is powered on, the control switch is in a closed state.

6. The multi-channel emergency stop control circuit of a humanoid robot as claimed in claim 5, characterized in that: The first relay is a solid-state relay, and the control element is a photodiode; or, the first relay is an electromagnetic relay, and the control element is a first relay coil.

7. The multi-channel emergency stop control circuit of a humanoid robot according to any one of claims 1 to 4, characterized in that: The output end of the controller is also connected to an electronic switch, the control end of the electronic switch is connected to the control end of the controller, the output end of the electronic switch is grounded, and the input end of the electronic switch is connected to the output end of the controller.

8. The multi-channel emergency stop control circuit of a humanoid robot as claimed in claim 7, characterized in that: The electronic switch is an NPN transistor, the base of the NPN transistor is connected to the control end of the controller, the emitter of the NPN transistor is grounded, and the collector of the NPN transistor is connected to the output end of the controller.

9. The multi-channel emergency stop control circuit of a humanoid robot according to any one of claims 1 to 4, characterized in that: The I / O port is also connected to a second power source through a resistor, and the second power source is connected to a power supply terminal of the controller.

10. A humanoid robot, characterized in that The invention comprises a multi-channel emergency stop control circuit for a humanoid robot as described in any one of claims 1 to 9.

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