Safety control circuit, robot and safety control method of robot

Abstract

The invention relates to a safety control circuit, a robot and a safety control method of the robot, the safety control circuit is applied to the robot, and the safety control circuit comprises a safety circuit which is arranged on a control part of the robot and can receive a signal representing whether the robot operates safely or not and send an instruction corresponding to the signal; the control circuit is electrically connected with the safety circuit and can respond to the instruction to control the driving circuit; the driving circuit is arranged on the body of the robot, is electrically connected with the control circuit, and can control a functional module of the body based on a control signal of the control circuit; according to the functional safety scheme comprising the safety control circuit provided by the invention, safety judgment and control are carried out based on the output of two global safety lines, and timely safety protection can still be realized through hardware under the condition that a communication unit, a driving unit and a main controller SoC of the body fail; and the failure rate is reduced and the reliability is improved by adopting a double-loop redundancy design.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a safety control circuit, a robot, and a safety control method for a robot. Background Art

[0002] With the rapid development of automated manufacturing in various industries and the increasing demand for flexible manufacturing, the demand for collaborative robots is growing. At the same time, collaborative robots need to work in the same workspace as humans, and the reliability of functional safety is particularly important for collaborative robots.

[0003] A typical collaborative robot functional safety architecture is as Figure 1 shown. The core controller for implementing functional safety is the safety board. The motor drive and brake control circuits are arranged on the body drive board. Closing the motor output and performing brake protection are achieved by the drive board. The safety board exchanges data with the joint drive board through communication. The safety of closing the motor output and the brake depends on communication. If problems such as communication data errors, main controller errors, and drive board errors occur, the protection functions of the brake or closing the motor may fail.

[0004] When errors occur in communication, the main controller, and the drive board software, the safety board cuts off the bus power supply (the electrical connection between the power control circuit and the body), forming the last line of defense. However, the protection response of cutting off the bus power supply lacks real-time performance. Since there are a large number of bus capacitors on the drive board, when the safety board cuts off the power supply, the bus voltage of the body will not immediately decrease. The energy in the capacitor still maintains the open brake state, resulting in protection failure. It takes a period of time for the energy of the bus capacitor to decrease to a level where it can no longer maintain the open brake state before the brake can be applied. At the same time, cutting off the bus power supply also brings problems with the convenience of using the robot. Since the body loses power, before re-exciting the robot, the body needs to be powered on first, which brings trouble to the operation process and affects the use efficiency of the robot. On the other hand, from an application perspective, it is often desired that after triggering the robot protection, an error indication state can be displayed from the indicator light of the robotic arm. If the bus power supply is cut off, the state cannot be maintained.

[0005] Therefore, it is necessary to improve the safety protection circuit of existing robots. Summary of the Invention

[0006] To address the above problems, the present invention provides a safety control circuit applied to a robot, including: a safety circuit arranged in the control part of the robot, capable of receiving a signal indicating whether the robot is operating safely and sending an instruction corresponding to the signal; a control circuit electrically connected to the safety circuit, capable of controlling a drive circuit in response to the instruction; and a drive circuit arranged in the body of the robot, electrically connected to the control circuit, capable of controlling the functional modules of the body based on the control signal of the control circuit.

[0007] The safety control circuit provided by the present application can achieve safety protection for the robot even in the event of a communication failure or communication software failure between the control unit and the body by setting a control circuit connected to the drive circuit in an electrically connected manner, thereby providing more reliable multiple protection for the safe operation of the robot.

[0008] Optionally, the control circuit includes a first control circuit and a second control circuit connected in parallel between the safety circuit and the drive circuit. The control circuit is configured to: when both the first control circuit and the second control circuit send signals indicating the safe operation of the robot, send a control signal indicating the safe operation of the robot; otherwise, send a control signal indicating that the robot is not operating safely.

[0009] The safety control circuit provided by the present application further improves the reliability of robot safety protection in a redundant design manner by setting two sub-control circuits connected in parallel in the control circuit: a first control circuit and a second control circuit, and determining that the robot is operating safely only when both sub-control circuits determine that the robot is operating safely.

[0010] Optionally, the body is provided with a fault display module for displaying fault information of the body. The fault display module is configured to be in a powered-on state regardless of whether the robot is operating safely.

[0011] When a part of the power supply of the body is cut off, the power supply of some functional modules, such as the fault display module, is still maintained. This setting makes it convenient for users to quickly locate the fault location and solve the fault problem when a fault occurs in the body of the robot.

[0012] Optionally, the safety circuit includes: a first single-chip microcomputer and a second single-chip microcomputer; the first control circuit includes: a first AND gate, a first diode, a first MOS transistor, a first hysteresis comparator, and a second AND gate; the second control circuit includes: a third AND gate, a second diode, a second MOS transistor, a second hysteresis comparator, and a fourth AND gate; two input terminals of the first AND gate and the third AND gate are respectively connected to output terminals of the first single-chip microcomputer and the second single-chip microcomputer, anodes of the first diode and the second diode are configured to be connected to a second voltage, sources of the first MOS transistor and the second MOS transistor are configured to be connected to a first voltage, gates of the first MOS transistor and the second MOS transistor are respectively connected to output terminals of the first AND gate and the third AND gate, a cathode of the first diode, a drain of the first MOS transistor, and an input terminal of the first hysteresis comparator are connected to each other, a cathode of the second diode, a drain of the second MOS transistor, and an input terminal of the second hysteresis comparator are connected to each other, output terminals of the first hysteresis comparator and the second hysteresis comparator are respectively connected to two input terminals of the second AND gate and the fourth AND gate.

[0013] Optionally, the functional module includes a motor, the driving circuit includes a motor driving circuit, the motor driving circuit includes a fifth AND gate and a sixth AND gate, two input terminals of the fifth AND gate are respectively connected to output terminals of the second AND gate and the fourth AND gate, an output terminal of the fifth AND gate is connected to an input terminal of the sixth AND gate, another input terminal of the sixth AND gate is configured to receive a motor control signal output by a programmable array logic, and an output terminal of the sixth AND gate is used to be connected to the motor.

[0014] Optionally, the functional module includes a motor rotor brake module, the driving circuit includes an open / brake driving circuit, the open / brake driving circuit includes a seventh AND gate and an eighth AND gate, input terminals of the seventh AND gate are respectively connected to an output terminal of the second AND gate and a brake enable signal, input terminals of the eighth AND gate are respectively connected to an output terminal of the fourth AND gate and an open brake enable signal, an output terminal of the seventh AND gate can output a brake enable instruction, and an output terminal of the eighth AND gate can output an open brake enable instruction.

[0015] To achieve the above invention objective, the present application provides a robot, which applies the safety control circuit described above.

[0016] To achieve the above-mentioned invention objective, the present application provides a safety control method for a robot, which applies the safety control circuit described above, and includes the following steps: a detection step, where the safety circuit detects whether the robot is operating safely; a control step, if the robot is not operating safely, a control signal is sent to the drive circuit through a control circuit electrically connected to the safety circuit; a drive step, based on the received control signal, the drive circuit controls the on / off power supply of the motor and / or the opening / closing of the motor rotor brake module.

[0017] Optionally, the safety control method for the robot further includes: controlling the operation of the drive unit of the body based on the control signal output by the control circuit.

[0018] In summary, the present embodiment provides a safety protection solution for a robot including a safety control circuit, which performs safety determination and control based on the outputs of two global safety lines (the first global safety line and the second global safety line). Even when faults occur in the communication, drive unit, and main controller SoC of the body, timely safety protection can still be achieved through hardware (the safety control circuit), and a dual-loop redundancy design is adopted to reduce the failure rate and improve the reliability. Description of the Drawings

[0019] Figure 1 is a schematic structural diagram of a safety control circuit for a robot in the prior art;

[0020] Figure 2 is a schematic structural diagram of the safety control circuit provided in the embodiment of the present invention;

[0021] Figure 3 is a schematic structural diagram of the safety control circuit provided in the embodiment of the present invention;

[0022] Figure 4 is Figure 2 a schematic structural diagram of the global safety signal generation circuit in the safety control circuit shown in

[0023] Figure 5 is Figure 2 a schematic structural diagram of the control signal output circuit and the drive circuit in the safety control circuit shown in

[0024] Figure 6 is a schematic step diagram of the safety control method for a robot provided in the embodiment of the present invention. Detailed Embodiment

[0025] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0026] As Figure 2 shown, this embodiment provides a safety control circuit applied to a robot, which includes a safety circuit 100, a control circuit 200, and a drive circuit 300. Among them, the safety circuit 100 is arranged in the control unit 10 of the robot, and can receive a signal indicating whether the robot is operating safely and send an instruction corresponding to the signal; the control circuit 200 is electrically connected to the safety circuit 100 and can control the drive circuit 300 in response to the instruction sent by the safety circuit 100; the drive circuit 300 can be arranged in the body 20 of the robot, is electrically connected to the control circuit 200, and can control the functional modules of the body 20 based on the control signal of the control circuit 200.

[0027] The safety control circuit provided in this embodiment sets the control circuit 200 connected to the drive circuit 300 through an electrically connected connection method, so that it can still achieve safety protection for the robot and provide more reliable multiple protection for the safe operation of the robot in case of communication failure or communication software failure between the control unit 10 and the body 20.

[0028] Optionally, as Figure 3 shown, the control circuit 200 includes: a first control circuit 210 and a second control circuit 220 connected in parallel between the safety circuit 100 and the drive circuit 300. The control circuit 200 is configured to: when both the first control circuit 210 and the second control circuit 220 send signals indicating the safe operation of the robot, send a control signal indicating the safe operation of the robot; otherwise, send a control signal indicating that the robot is not operating safely.

[0029] The safety control circuit provided in this embodiment further improves the reliability of the robot's safety protection by setting the control circuit 200 with two sub-control circuits connected in parallel: the first control circuit 210 and the second control circuit 220, and determining that the robot is operating safely only when both sub-control circuits determine that the robot is operating safely, through a redundant design method.

[0030] Optionally, the body 20 is provided with a fault display module (not shown) for displaying the fault information of the body. The fault display module is configured to: be in an energized state regardless of whether the robot is operating safely.

[0031] When a partial power supply of the robot body 20 is cut off, the power supply of some functional modules is still maintained, such as the fault display module. With such a setting, when a fault occurs in the robot body 20, it is convenient for the user to quickly locate the fault location and solve the fault problem.

[0032] The following will describe Figures 4 to 5 the specific implementation methods and principles of the safety circuit 100 and the control circuit 200:

[0033] The robot body 20 may include multiple joints, such as the first joint 01 to the Nth joint 0N. Since the control principle of the control circuit 200 for each joint is similar, hereinafter, the connection relationship and control principle of one of the joints of the robot body 20 will be taken as an example for description.

[0034] Each joint preferably includes a driving unit, a detecting unit, and a control unit. The driving unit is connected to the main controller SoC and can execute the instructions of the main controller SoC. The detecting unit can detect information such as the position and current of the joint and send it to the driving unit. The control unit is connected to the driving unit and can control the motor and the on / off brake of the joint based on the signal of the driving unit.

[0035] Among them, the driving unit can be a programmable logic unit FPGA or an MCU, etc., which can execute the instructions of the main controller SoC and send corresponding signals to the connected control unit accordingly.

[0036] The safety circuit 100 includes: a first single-chip microcomputer MCU1 and a second single-chip microcomputer MCU2; the first control circuit 210 includes: a first AND gate 1, a first diode 212, a first MOS transistor 213, a first hysteresis comparator 214, and a second AND gate 2; the second control circuit 220 includes: a third AND gate 3, a second diode 222, a second MOS transistor 223, a second hysteresis comparator 224, and a fourth AND gate 4; the two input terminals of the first AND gate 1 and the third AND gate 3 are respectively connected to the output terminals of the first single-chip microcomputer MCU1 and the second single-chip microcomputer MCU2. The anodes of the first diode 212 and the second diode 222 are configured to be connected to the second voltage. The sources of the first MOS transistor 213 and the second MOS transistor 223 are configured to be connected to the first voltage. The gates of the first MOS transistor 213 and the second MOS transistor 223 are respectively connected to the output terminals of the first AND gate 1 and the third AND gate 3. The cathode of the first diode 212 and the drain of the first MOS transistor 213 are connected to the input terminal of the first hysteresis comparator 214. The cathode of the second diode 222 and the drain of the second MOS transistor 223 are connected to the input terminal of the second hysteresis comparator 224. The output terminals of the first hysteresis comparator 214 and the second hysteresis comparator 224 are respectively connected to the two input terminals of the second AND gate 2 and the fourth AND gate 4.

[0037] Among them, the first voltage is greater than the reference voltages of the first hysteresis comparator 214 and the second hysteresis comparator 224, and the second voltage is less than the reference voltages of the first hysteresis comparator 214 and the second hysteresis comparator 224.

[0038] Since the first control circuit 210 and the second control circuit 220 are redundant designs with the same functions, the principle of the two sub-control circuits will be described below taking the first control circuit 210 as an example. When the output terminals of the first single-chip microcomputer MCU1 and the second single-chip microcomputer MCU2 both output signals indicating the safe operation of the robot, the first AND gate 1 outputs a high-level signal to the gate of the first MOS transistor 213. At this time, the first MOS transistor 213 is turned on, and the first voltage is output to the first hysteresis comparator 214. Similarly, in this case, the first voltage is output to the second hysteresis comparator 224. The outputs of the first hysteresis comparator 214 and the second hysteresis comparator 224 are consistent and high level. The second AND gate 2 and the fourth AND gate 4 correspondingly output high-level signals (control signals), and this signal can be used to drive / control the function modules arranged on the body 20 connected thereto; in another case, when any one of the output terminals of the first single-chip microcomputer MCU1 and the second single-chip microcomputer MCU2 outputs a signal indicating that the robot is not operating safely, it is determined that the robot is not operating safely, and the second voltage is output to the first hysteresis comparator 215 and the second hysteresis comparator 225. The second AND gate 2 and the fourth AND gate 4 correspondingly output low-level signals (control signals), and this signal can be used to drive / control the function modules arranged on the body 20 connected thereto.

[0039] Among them, the line connecting the input terminal of the first hysteresis comparator 215 is defined as the first global safety line, and its voltage value can be 0V, 7V or 12V. Correspondingly, the line connecting the input terminal of the second hysteresis comparator 225 is defined as the second global safety line, and its voltage value can be 0V, 7V or 12V.

[0040] Among them, in this embodiment, the first voltage mentioned can be 12V, and the second voltage can be 7V. The values of the first voltage and the second voltage are set correspondingly relative to the reference voltages of the corresponding hysteresis comparators. For example, the reference voltage can be set to 9V (as long as it is less than the first voltage and greater than the second voltage). The example values of the first voltage and the second voltage do not constitute a limitation to the present invention. Based on this embodiment, those skilled in the art can, based on the spirit of the present invention, select comparators of other specifications and adaptively set appropriate voltage values. The above embodiments are all within the protection scope of the present invention.

[0041] Specifically, the function module is usually configured to respond to a high-level signal indicating the safe operation of the robot and maintain its original operating state; respond to a low-level signal indicating that the robot is not operating safely and perform safety protection operations such as power-off.

[0042] It should be noted that in some embodiments, for cost or space savings, only the first control circuit 210 or the second control circuit 220 may be provided.

[0043] Optionally, the safety circuit 100 further includes an AND gate with two output terminals respectively connected to the first microcontroller MCU1 and the second microcontroller MCU2. The two input terminals of the two AND gates are respectively used for sampling the body 20, and the electrical signals obtained by sampling are output to the safety circuit 100 after being determined by the AND gates, serving as a reference for the safety circuit 100 to judge the operating state of the robot body 20.

[0044] Optionally, the functional module includes a motor, the drive circuit 300 includes a motor drive circuit, and the motor drive circuit includes a fifth AND gate 5 and a sixth AND gate 6. The two input terminals of the fifth AND gate 5 are respectively connected to the output terminals of the second AND gate 2 and the fourth AND gate 4. The output terminal of the fifth AND gate 5 is connected to the input terminal of the sixth AND gate 6. The other input terminal of the sixth AND gate 6 is configured to receive the motor control signal output by the drive unit. The output terminal of the sixth AND gate 6 is used to be connected to the motor and can output a motor drive signal.

[0045] When a low-level signal indicating that the robot is not operating safely is input to any one of the input terminals of the fifth AND gate 5, the fifth AND gate 5 outputs a low-level signal to one input terminal of the sixth AND gate 6. When high-level signals indicating that the robot is operating safely are input to both input terminals of the fifth AND gate 5, the fifth AND gate 5 outputs a high-level signal to one input terminal of the sixth AND gate 6. The motor control signal (PWM signal) output by the drive unit is output to the other input terminal of the sixth AND gate 6. When high-level signals are input to both input terminals of the sixth AND gate 6, the motor maintains its operating state. When a low-level signal is input to any one of the input terminals of the sixth AND gate 6, the motor stops operating.

[0046] Optionally, the functional module further includes a motor rotor brake module (not shown), the drive circuit 300 includes an on / brake drive circuit, and the on / brake drive circuit includes a seventh AND gate 7 and an eighth AND gate 8. The input terminals of the seventh AND gate 7 are respectively connected to the output terminal of the second AND gate 2 and the brake enable signal / brake power supply enable. The input terminals of the eighth AND gate 8 are respectively connected to the output terminal of the fourth AND gate 4 and the open brake enable signal / open brake drive enable. The output terminal of the seventh AND gate 7 can output a brake power supply signal / brake enable instruction, and the output terminal of the eighth AND gate 8 can output an open brake drive signal / open brake enable instruction.

[0047] Through the setting of the on / brake drive circuit, it is possible to control the operation of the electronic rotor brake module based on the electrical signal indicating whether the robot is operating safely and in combination with the on / brake control signal.

[0048] Specifically, still taking the first voltage as 12V, the second voltage as 7V, and the reference voltage as 9V as an example, the control logic of the first global safety line and the second global safety line is shown in Table 1:

[0049] Based on Table 1, it can be learned that only when both the first global safety line and the second global safety line output a 12V voltage indicating the safe operation of the robot, motor control, brake power supply, and brake drive are controlled by the servo; in other cases, whether any one of the first global safety line and the second global safety line is disconnected or outputs a 7V voltage indicating the unsafe operation of the robot, it is determined that the robot is not operating safely, the motor control PWM and the power supply of the brake are cut off, and the brake drive control is turned off.

[0050] Table 1

[0051]

[0052] Optionally, the output terminals of the first hysteresis comparator 214 and the second hysteresis comparator 224 are connected to the drive unit, so that the drive unit can determine whether to perform protection based on the signals output by the first hysteresis comparator 214 and the second hysteresis comparator 224 even if it does not receive a protection instruction through communication with the main controller SoC, realizing multiple protection for the drive unit.

[0053] Optionally, referring to Figure 2 、 Figure 4 、 Figure 5 From a functional perspective, the control circuit 200 can be defined as including: a global safety signal generation circuit and a control signal output circuit. The global safety signal generation circuit is connected to the safety circuit 100 and the control signal output circuit, and includes: a first AND gate 1, a third AND gate 3, a first diode 212, a second diode 222, a first MOS transistor 213, and a second MOS transistor 223. Based on the description of the principle of the control circuit 200 above, it can be learned that the global safety signal generation circuit can output an electrical signal of 12V / 7V indicating whether the robot is operating safely. Preferably, the global safety signal generation circuit is provided in the control unit 10.

[0054] The control signal output circuit is provided corresponding to each joint, and includes a first hysteresis comparator 214, a second hysteresis comparator 224, a second AND gate 2, and a fourth AND gate 4. It can output a final determination result indicating whether the robot is operating safely and output it to the drive circuit 300 electrically connected thereto for the drive circuit 300 to refer to and control the operation of the functional module accordingly. Preferably, the control signal output circuit is provided in the body 20.

[0055] It should be noted that each module / component of the control circuit 200 can be adaptively set based on the spatial characteristics of the control unit 10 and the body 20. In some embodiments, all of the control circuit 200 can be disposed in the control unit 10; or, all of the control circuit 200 can be disposed in the body 20.

[0056] Optionally, this embodiment provides a robot configured with the safety control circuit described above.

[0057] Optionally, as Figure 6 shown, this embodiment provides a safety control method for a robot, which applies the safety control circuit described above and includes the steps of:

[0058] A detection step, where the safety circuit detects whether the robot is operating safely;

[0059] A control step, if the robot is not operating safely, a control signal is sent to the drive circuit through the control circuit electrically connected to the safety circuit;

[0060] A drive step, based on the received control signal, the drive circuit controls the power on / off of the motor and / or the opening / closing of the motor rotor brake module.

[0061] Optionally, the above safety control method further includes: controlling the operation of the drive unit of the body based on the control signal output by the control circuit.

[0062] Specifically, the drive unit can receive a signal indicating whether the robot is operating safely sent by the control circuit, so that the drive unit can determine whether protection needs to be performed even if it does not receive a protection instruction through communication with the main controller SoC, achieving multiple protections for the drive unit.

[0063] In summary, this embodiment provides a functional safety protection solution for a robot including a safety control circuit. Based on the outputs of two global safety lines (the first global safety line and the second global safety line), safety determination and control are performed. Even when faults occur in the communication, drive unit, and main controller SoC of the body 20, timely safety protection can still be achieved through hardware (the safety control circuit), and a dual-loop redundant design is adopted to reduce the failure rate and improve reliability.

[0064] So far, the technical solution of the present invention has been described in conjunction with the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to the above specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will all fall within the protection scope of the present invention.

Claims

1. A safety control circuit, applied to a robot, characterized in that: include: A safety circuit, provided in the control part of the robot, capable of receiving a signal indicating whether the robot is operating safely and sending an instruction corresponding to the signal; a control circuit, electrically connected to the safety circuit, capable of controlling the drive circuit in response to the instruction; as well as The driving circuit is arranged in the body of the robot and is electrically connected to the control circuit. The driving circuit can control the functional modules of the body based on the control signal of the control circuit.

2. The safety control circuit according to claim 1, characterized in that: The control circuit includes: a first control circuit and a second control circuit connected in parallel between the safety circuit and the drive circuit, and the control circuit is configured to: in response to the first control circuit and the second control circuit both sending signals indicating that the robot is operating safely, send a control signal indicating that the robot is operating safely; otherwise, send a control signal indicating that the robot is not operating safely.

3. The safety control circuit according to claim 1, characterized in that: The main body is provided with a fault display module for displaying fault information of the main body, and the fault display module is configured to be in a power-on state regardless of whether the robot is operating safely.

4. The safety control circuit according to claim 2, characterized in that: The safety circuit comprises: a first single chip microcomputer and a second single chip microcomputer; The first control circuit includes: a first AND gate, a first diode, a first MOS transistor, a first hysteresis comparator and a second AND gate; The second control circuit includes: a third AND gate, a second diode, a second MOS transistor, a second hysteresis comparator and a fourth AND gate; The two input ends of the first AND gate and the third AND gate are respectively connected to the output ends of the first single-chip microcomputer and the second single-chip microcomputer, the sources of the first MOS transistor and the second MOS transistor are configured to be connected to a first voltage, the anodes of the first diode and the second diode are configured to be connected to a second voltage, the gates of the first MOS transistor and the second MOS transistor are respectively connected to the output ends of the first AND gate and the third AND gate, the cathode of the first diode and the drain of the first MOS transistor are connected to the input end of the first hysteresis comparator, the cathode of the second diode and the drain of the second MOS transistor are connected to the input end of the second hysteresis comparator, and the output ends of the first hysteresis comparator and the second hysteresis comparator are respectively connected to the two input ends of the second AND gate and the fourth AND gate.

5. The safety control circuit according to claim 4, characterized in that: The functional module includes a motor, the drive circuit includes a motor drive circuit, the motor drive circuit includes a fifth AND gate and a sixth AND gate, the two input ends of the fifth AND gate are respectively connected to the output ends of the second AND gate and the fourth AND gate, the output end of the fifth AND gate is connected to the input end of the sixth AND gate, the other input end of the sixth AND gate is configured to receive a motor control signal output by a programmable array logic, and the output end of the sixth AND gate is used to connect to the motor.

6. The safety control circuit according to claim 4, characterized in that: The functional module includes a motor rotor brake module, the drive circuit includes an open / brake drive circuit, the open / brake drive circuit includes a seventh AND gate and an eighth AND gate, the input end of the seventh AND gate is respectively connected to the output end of the second AND gate and the brake enable signal, the input end of the eighth AND gate is respectively connected to the output end of the fourth AND gate and the open brake enable signal, the output end of the seventh AND gate can output a brake enable instruction, and the output end of the eighth AND gate can output an open brake enable instruction.

7. A robot, characterized in that: A safety control circuit as claimed in any one of claims 1 to 6 is used.

8. A robot safety control method, using the safety control circuit according to any one of claims 1 to 6, characterized in that: Includes steps: A detection step, wherein the safety circuit detects whether the robot is operating safely; a control step, if the robot is not operating safely, sending a control signal to the drive circuit via a control circuit electrically connected to the safety circuit; The driving step includes controlling the power on / off of the motor and / or the opening / braking of the motor rotor brake module based on the received control signal.

9. The safety control method according to claim 8, characterized in that: Also includes: Based on the control signal output by the control circuit, the operation of the driving unit of the body is controlled.

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