Emergency braking equipment for motor

Abstract

The invention provides motor emergency braking equipment, a plurality of brake connectors and signal connectors are arranged on the motor emergency braking equipment, the plurality of brake connectors are in one-to-one correspondence with a plurality of motors, and the motor emergency braking equipment is connected in series between a servo driver and the corresponding motor through the brake connectors and matched cables thereof. And the motor emergency braking equipment is also connected to an upper computer through a signal connector and a matched data line, receives a braking instruction issued by the upper computer, and controls all the motors to enter three-phase short circuit after preset delay time so as to complete braking control on the plurality of motors. According to the brake connector and the signal connector, the whole device is integrated in a servo motor system through a cable at any time, an original motor and an original driver do not need to be transformed, the cost is reduced, time delay is provided before short-circuit braking, conflicts between the device and the servo driver are prevented, and the system reliability is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor braking, in particular to a motor emergency braking device. BACKGROUND

[0002] Motor emergency braking technology is a key technology to ensure the safe shutdown of motor equipment, which is currently mainly divided into mechanical braking, electric braking, energy consumption braking and regenerative braking.

[0003] In terms of mechanical braking, electromagnetic brake braking is the most widely used technical solution, and its working principle is to attract or release the brake friction body through the magnetic field generated by the electromagnet, thereby achieving braking. However, electromagnetic brake braking has the following obvious defects: large size, severe brake wear, vibration during rapid braking, and slow response speed.

[0004] In terms of electric braking, reverse connection braking changes the phase sequence of the motor power supply to generate a rotating magnetic field opposite to the direction of rotation of the rotor inertia, thereby generating braking torque. However, this braking method has the problems of poor braking accuracy, large impact force and easy damage to transmission components.

[0005] Energy consumption braking utilizes rotor rotational energy to cut magnetic flux to generate braking torque, and converts rotor kinetic energy into rotor loop resistance. However, energy consumption braking requires additional DC power supply and braking resistance, and the braking torque is small at low speed, and the investment cost of the braking DC device is high when the motor power is large.

[0006] Regenerative braking converts kinetic energy into electrical energy to feed back to the power grid by making the motor in a generating state, achieving energy recovery and high efficiency, and is particularly suitable for frequent braking applications such as electric vehicles and elevator downlines. However, the regenerative braking technology has a high cost and requires a frequency converter or a special circuit to support, and is only suitable for specific working conditions.

[0007] In the prior art, different braking methods have their own application range and limitations. Although the existing motor emergency braking technology has certain advantages in its own application field, it generally has the disadvantages of slow response speed, low braking precision, high energy consumption, high cost or complex system, and it is difficult to meet the comprehensive requirements of fast response, precise braking, energy saving and environmental protection, and cost control. SUMMARY

[0008] Therefore, the purpose of the present application is to provide at least a motor emergency braking device. The present application provides a brake connector and a signal connector, so that the entire device can be integrated in the servo motor system at any time through the cable, without the need to modify the original motor and drive, simplifying the cost, and providing a delay before short-circuit braking to prevent conflicts between the device and the servo drive, improving system reliability.

[0009] The application mainly includes the following aspects: In a first aspect, the embodiments of the application provide a motor emergency braking device, which is provided with a plurality of brake connectors and a signal connector. The plurality of brake connectors correspond to a plurality of motors one by one. The motor emergency braking device is connected in series between a servo driver and a corresponding motor through the brake connector and a matching cable. The motor emergency braking device is also connected to an upper computer through the signal connector and a matching data line. The motor emergency braking device receives a braking instruction issued by the upper computer, controls all the motors to enter three-phase short circuit after a preset delay time, and completes brake control of the plurality of motors.

[0010] In a possible implementation, the motor emergency braking device further includes a brake board and a packaging shell. The brake connector and the signal connector are fixedly installed on the surface of the packaging shell, and the brake board is fixedly installed in the packaging shell. The brake connector includes a drive connector and a motor connector. The drive connector connects the three-phase power output of the servo driver for the corresponding motor to the brake board through a matching cable. The motor connector connects the three-phase power input of the motor to the three-phase power output end of the servo driver and the brake board through a matching cable. The signal connector connects the data interaction end of the upper computer and the power supply provided by the upper computer to the brake board through a matching cable. The brake board receives the braking instruction issued by the upper computer, and causes the three-phase short circuit of the motor after a preset delay time to complete the motor brake.

[0011] In a possible implementation, the packaging shell is provided with a plurality of standard fixing holes corresponding to the connectors one by one. Each connector is fixedly installed on the packaging shell through a given mechanical structure and a corresponding standard fixing hole. The packaging shell adopts a fully-closed metal structure. For important standard fixing holes, a rubber ring or a silica gel ring is used for sealing. The brake board is fixed in the packaging shell by a second given mechanical structure.

[0012] In a possible implementation, the brake board card comprises a power supply isolation unit integrated on a circuit board, a plurality of brake units corresponding to the motors, a self-checking unit, a master control unit, a communication unit and an energy storage unit. An input end of the power supply isolation unit is connected to a power supply provided by the upper computer through a signal connector and a matching cable. An output end of the power supply isolation unit is connected to a power supply input end of the brake unit. Control signal input ends of all brake units are connected to the same brake signal output end of the master control unit. Three-phase output ends of the brake unit are respectively connected to three-phase power outputs of corresponding motors provided by the servo driver through brake connectors and matching cables. The three-phase output ends of the brake unit are also connected to three-phase power inputs of corresponding motors through corresponding motor connectors and matching cables. The self-checking unit is connected to the three-phase output end of each brake unit and the master control unit. The communication unit is connected to the upper computer and the master control unit. The energy storage unit is connected to the input end of the power supply isolation unit. The energy storage unit provides short-time power supply for the brake board card when the power supply provided by the upper computer is abnormally powered off. The master control unit receives brake instructions issued by the upper computer through the communication unit, and outputs brake signals to each brake unit through the brake signal output end after a preset delay time, so as to control each brake unit to be turned on and to short-circuit three-phase windings of each motor. After a preset interval time, the self-checking unit is enabled, and brake closed-loop self-checking is performed through the self-checking unit. According to the on-off result of each brake unit corresponding to the self-checking unit output, a first self-checking result is determined. The first self-checking result is brake success or brake failure. The master control unit sends the first self-checking result to the upper computer through the communication unit, the signal connector and a matching data line.

[0013] In a possible implementation, the master control unit receives an initialization self-checking instruction issued by the upper computer through the communication unit. Brake signals are output to each brake unit through the brake signal output end after a preset delay time, so as to control each brake unit to be turned on and to short-circuit three-phase windings of each motor. After a preset interval time, the self-checking unit is enabled. Initialization self-checking is performed through the self-checking unit. According to the on-off result of each brake unit corresponding to the self-checking unit output, a second self-checking result for the initialization self-checking instruction is determined. The second self-checking result is initialization self-checking success or initialization self-checking failure. The master control unit sends the second self-checking result to the upper computer through the communication unit, the signal connector and a matching data line.

[0014] In a possible implementation, the power supply isolation unit includes a high-voltage isolation component and a low-voltage isolation component, and the power supply input end of the brake unit includes a high-voltage drive end and a low-voltage drive end, wherein the input side of the high-voltage isolation component and the input side of the low-voltage isolation component are connected to the power supply source through a signal connector and a matching data line, respectively; the output side of the high-voltage isolation component leads out a high-voltage drive power supply end and a high-voltage power supply ground, the high-voltage drive power supply end is connected to the high-voltage drive end of each brake unit corresponding to the motor, and the high-voltage power supply ground is connected to the ground end of each brake unit corresponding to the motor; the output side of the low-voltage isolation component leads out a low-voltage drive power supply end and a low-voltage power supply ground, and the low-voltage drive power supply end is connected to the low-voltage drive end of each brake unit corresponding to the motor.

[0015] In a possible implementation, the brake control component includes a plurality of on-off controllers corresponding to the three-phase windings of the motor, the high-voltage drive end of the on-off controller is connected to the high-voltage drive power supply end of the power supply isolation unit, the low-voltage drive end of the on-off controller is connected to the low-voltage drive power supply end of the power supply isolation unit, the control end of the on-off controller is connected to the brake signal output end of the master control unit, the ground end of the on-off controller is connected to the high-voltage power supply ground, the output end of the on-off controller is connected to the corresponding phase power output of the servo driver through a corresponding drive connector and a matching cable, and the output end of the on-off controller is connected to the corresponding phase power input of the motor through a corresponding motor connector and a matching cable, wherein the control end of the on-off controller receives the brake control signal issued by the master control unit, controls the on-off controller to be closed, and shorts the phase winding of the motor connected to the on-off controller.

[0016] In a possible implementation, the on-off controller includes a control switch and a switch driving chip, and for each on-off controller corresponding to the motor: the high-voltage drive end of the switch driving chip is connected to the high-voltage drive power supply end of the high-voltage isolation component, the low-voltage drive end of the switch driving chip is connected to the low-voltage drive power supply end of the low-voltage isolation component, the control end of the switch driving chip is connected to the brake signal output end of the master control unit, the output end of the switch driving chip is connected to the control end of the control switch, the first connection end of the control switch is connected to the high-voltage power supply ground, the second connection end of the control switch is connected to the corresponding phase power output of the motor on the servo driver through a drive connector and a matching cable, and is connected to the corresponding phase power input of the motor on the motor driver and a matching cable; wherein the control end of the switch driving chip controls the corresponding control switch to be closed in response to the brake control signal issued by the master control unit, so as to short the phase winding of the motor connected to the on-off controller.

[0017] In a possible implementation, the self-checking unit comprises a constant current source, a single-phase self-checking circuit corresponding to each of the three-phase windings of the motor, a corresponding on-off controller, a first connection end of the single-phase self-checking circuit connected to the constant current source, a second connection end of the single-phase self-checking circuit connected to an output end of the corresponding on-off controller, and a third connection end of the single-phase self-checking circuit connected to the master control unit. The brake self-checking comprises: when the corresponding on-off controller is turned on, the single-phase self-checking circuit outputs a successful turn-on signal to the master control unit; when the corresponding on-off controller is turned off, the single-phase self-checking circuit outputs a failed turn-on signal to the master control unit; when the master control unit detects that all the signals fed back by the single-phase self-checking circuits are successful turn-on signals, the master control unit determines that the brake is successful or the initialization self-checking is successful; and when the master control unit detects that any signal fed back by the single-phase self-checking circuits is a failed turn-on signal, the master control unit determines that the brake is failed or the initialization self-checking is failed.

[0018] In a possible implementation, the single-phase self-checking circuit comprises a first optocoupler switch, a corresponding current-limiting resistor, an ultra-high-speed high-voltage diode, and a level conversion chip. For each single-phase self-checking circuit, the constant current source is connected to the input side anode of the first optocoupler switch through the current-limiting resistor, the input side cathode of the first optocoupler switch is connected to the output end of the corresponding on-off controller through the ultra-high-speed high-voltage diode, and the output side of the first optocoupler switch is connected to the master control unit through the level conversion chip. For the single-phase self-checking circuit, when the corresponding on-off controller is turned on, the input side current of the first optocoupler switch reaches a working condition, the output side of the first optocoupler switch is turned on, and a successful turn-on signal is output to the master control unit through the level conversion chip; and when the corresponding on-off controller is turned off, the input side current of the first optocoupler switch does not reach the working condition, the output side of the first optocoupler switch is turned off, and a failed turn-on signal is output to the master control unit through the level conversion chip.

[0019] In a possible implementation, when the brake board card does not experience power failure, the energy storage unit works in a Buck mode and is charged by a power supply provided by the upper computer; and when the brake board card experiences power failure, the energy storage unit switches to a Boost mode and continues to provide stable power supply for the brake board card for a preset time length.

[0020] In one possible implementation, the master control unit is further connected to a temperature state feedback end of each switch driving chip in the brake unit, a temperature state feedback end of the energy storage unit, and a power supply state feedback end of the energy storage unit, the temperature state feedback end of the switch driving chip outputs the temperature state of the switch driving chip, the temperature state feedback end of the energy storage unit outputs the temperature state of the energy storage unit, and the power supply state feedback end of the energy storage unit outputs the power supply state of the motor emergency braking device provided by the upper computer, wherein the master control unit reads the temperature state corresponding to each switch driving chip, the temperature state corresponding to the energy storage unit, and the power supply state corresponding to the motor emergency braking device, respectively; and the master control unit sends the temperature state corresponding to each switch driving chip, the temperature state corresponding to the energy storage unit, and the power supply state corresponding to the motor emergency braking device to the upper computer through the communication unit.

[0021] The motor emergency braking device provided in the embodiments of the present application is provided with a plurality of brake connectors and a signal connector, the plurality of brake connectors correspond to a plurality of motors one by one, the motor emergency braking device is connected in series between a servo driver and a corresponding motor through the brake connector and a matching cable, and the motor emergency braking device is further connected to an upper computer through the signal connector and a matching data line, wherein the motor emergency braking device receives a braking instruction issued by the upper computer, controls all the motors to enter three-phase short circuit after a preset delay time, and completes brake control on the plurality of motors. The brake connector and the signal connector provided in the present application enable the entire device to be integrated in a servo motor system through a cable at any time, without the need to modify the original motor and drive, thereby simplifying the cost, providing a delay before short-circuit braking, preventing conflicts between the device and the servo driver, and improving system reliability.

[0022] In order to make the above objectives, characteristics and advantages of the present application more obvious and easy to understand, the following preferred embodiments are specifically described below, and the accompanying drawings are referred to for detailed description. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0024] Figure 1 Fig. 1 shows a structural schematic diagram of a motor emergency braking device provided by an embodiment of the present application; Figure 2 Fig. 2 shows another structural schematic diagram of a motor emergency braking device provided by an embodiment of the present application; Figure 3A braking system diagram of a motor emergency braking device provided by an embodiment of the application is shown. Figure 4 A circuit structure schematic diagram of a braking board card provided by an embodiment of the application is shown. Figure 5 A circuit structure schematic diagram of a braking board card provided by an embodiment of the application is shown. DETAILED DESCRIPTION

[0025] To make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of illustration and description, and are not used to limit the protection scope of the present application. In addition, it should be understood that the schematic drawings are not drawn according to the actual proportions. The flowcharts show the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowcharts can not be implemented in sequence, and the steps without logical context relationship can be reversed in sequence or implemented simultaneously. In addition, one or more other operations can be added to the flowcharts or one or more operations can be removed from the flowcharts under the guidance of the content of the present application.

[0026] In addition, the described embodiments are only some of the embodiments of the present application, not all the embodiments. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0027] In a semiconductor device, a three-phase servo motor completes reciprocating positioning at a speed of several m / s (meters per second). In order to prevent internal collision of the device while not sacrificing productivity, the device needs to have sub-millisecond emergency braking capability. So-called "emergency braking" means that once a dangerous working condition such as "position-speed mismatch" or "external power supply drop" is detected, the control system must rapidly attenuate the motor from peak speed to zero speed within hundreds of microseconds, and simultaneously feed back a confirmation signal of "braking completed" to the control system. If there is a short board in time, reliability or redundancy in this link, it may cause internal collision or even coil burning. Therefore, motor emergency braking technology has become a key technology to ensure safe shutdown of motor equipment. The motor emergency braking technology mainly includes mechanical braking, electric braking, energy consumption braking and regenerative braking.

[0028] In the mechanical braking aspect, the electromagnetic brake is the most widely used technical solution, and its working principle is to attract or release the brake friction body through the magnetic field generated by the electromagnet, so as to realize braking. However, the electromagnetic brake has the following obvious defects: large volume, serious brake wear, vibration during rapid braking, and slow response speed.

[0029] In the electric braking aspect, the reverse connection braking changes the phase sequence of the motor power supply to generate a rotating magnetic field opposite to the direction of rotation of the rotor inertia, thereby generating a braking torque. However, this braking method has the problems of poor braking accuracy, large impact force, and easy damage to transmission components.

[0030] Energy consumption braking utilizes rotor kinetic energy to cut magnetic flux to generate braking torque, and the rotor kinetic energy is consumed on the rotor loop resistance. However, energy consumption braking requires additional DC power supply and braking resistance, and the braking torque is small at low speed. When the motor power is large, the investment cost of the braking DC device is high.

[0031] Regenerative braking converts kinetic energy into electrical energy and feeds it back to the power grid by making the motor in a generating state, achieving energy recovery and high efficiency, and is particularly suitable for frequent braking applications such as electric vehicles and elevator downlines. However, the regenerative braking technology has a high cost and requires a frequency converter or a special circuit to support, and is only suitable for specific working conditions.

[0032] Although the existing motor emergency braking technology has certain advantages in its respective application fields, it generally has the problems of slow response speed, low braking accuracy, high energy consumption, high cost, or complex system, and is difficult to meet the comprehensive requirements of fast response, accurate braking, energy saving and environmental protection, and cost control.

[0033] Therefore, the motor emergency braking device provided by the embodiments of the present application is connected in series between the servo driver and the motor circuit, detects the braking instruction, shorts the three-phase winding of the motor, forms a back electromotive force and a short-circuit current, and realizes motor braking. It does not rely on mechanical friction at all, and can avoid problems such as wear, vibration, noise, and short service life. The specific implementation is as follows: Please refer to Figure 1 , Figure 1 The structure schematic diagram of the motor emergency braking device provided by the embodiments of the present application is shown. Please refer to Figure 2 , Figure 2 The structure schematic diagram of the motor emergency braking device provided by the embodiments of the present application is shown. Please refer to Figure 3 , Figure 3 The braking system diagram of the motor emergency braking device provided by the embodiments of the present application is shown. As Figures 1-3 shown, the motor emergency braking device a provided by the embodiments of the present application is provided with a plurality of brake connectors I and a signal connector II, Figures 1-3In the shown embodiment, three brake connectors I are provided on the motor emergency braking device a, and the plurality of brake connectors I correspond to the plurality of motors one by one, Figure 3 In the shown embodiment, three motors are integrated in the same device c, and the motor emergency braking device is connected to the different motors through the driving interfaces corresponding to the motors provided by the device c. The motor emergency braking device a is connected in series between the servo driver b and the motors through the brake connectors I and the matching cables, and the motor emergency braking device a is also connected to the host computer through the signal connectors and the matching data lines.

[0034] The host computer monitors the motor state in real time. When the host computer monitors that the motor is in an abnormal operating state (for example, stall), the host computer generates a braking instruction and sends it to the motor emergency braking device a. The motor emergency braking device a receives the braking instruction sent by the host computer through the signal connectors and the matching data lines. After a preset delay time, the motor emergency braking device a controls all the motors to enter three-phase short circuit, that is, controls the U, V, and W three-phase windings of each motor to be short-circuited with each other, so that the kinetic energy is rapidly dissipated, and the braking control of the plurality of motors is completed. In the present application, the preset delay time is adjustable. The purpose of the short-circuit action performed by the present application after the preset delay time is to prevent the servo driver that is outputting short circuit.

[0035] In a preferred embodiment, the motor emergency braking device a further comprises a brake board card III and a packaging shell IV. The brake connectors I and the signal connectors II are fixedly installed on the surface of the packaging shell IV, and the brake board card III is fixedly installed inside the packaging shell IV. The brake connectors I include a driving connector X and a motor connector Y. The driving connector X connects the three-phase power output of the servo driver b for the corresponding motor to the brake board card III through the matching cable L-1. The motor connector Y connects the three-phase power input of the motor to the brake board card III through the matching cable L-2. The three-phase power output of the servo driver b is connected to the brake board card III through the brake board card III and the driving connector X through the matching cable L-1. The data interaction end of the host computer and the power supply provided by the host computer are connected to the brake board card III through the signal connectors II and the matching data lines.

[0036] Preferably, the brake board card III receives the braking instruction sent by the host computer through the signal connectors II and the matching data lines. After a preset delay time, the brake board card III controls all the motors to enter three-phase short circuit, and completes the braking control of the plurality of motors.

[0037] As Figure 2As shown, in the present application, the brake connector I is installed on the packaging shell IV by the way of panel fixation, and the brake board card III is installed on the packaging shell IV by the way of screw installation. The core function of the packaging shell IV is to provide reliable mechanical fixation and safe environmental isolation. Specifically, the packaging shell IV is provided with a plurality of standard fixing holes corresponding to each connector (including a plurality of brake connectors and signal connectors). The connector is placed at the corresponding standard fixing hole position and is installed and fixed on the packaging shell IV by the first given mechanical structure (such as screw, lock, etc. Mechanical structure). The packaging shell IV adopts a fully enclosed metal structure. For important standard fixing holes (previously specified according to the importance of the installed connector), a rubber ring or a silica gel ring is used to realize the sealing between it and the corresponding connector. In this way, it can effectively prevent water, oil, dust and other external pollutants from invading, and ensure the long-term stable operation and environmental adaptability of the brake board card III in the packaging shell IV.

[0038] In addition, the brake board card III is fixed in the packaging shell IV by the second given mechanical structure (such as screw, lock, etc. Mechanical structure), which ensures that the brake board card III will not loosen or dislocate due to external vibration and impact.

[0039] As Figures 1-3 In the embodiment shown, seven standard fixing holes are provided. The motor z1 corresponding drive connector X1 and motor connector Y1, the motor z2 corresponding drive connector X2 and motor connector Y2, the motor z3 corresponding drive connector X3 and motor connector Y3, and the signal connector II are fixed and installed by the first given mechanical structure. The first given mechanical structure fixes each connector to achieve stable installation and quick disassembly between the connector and its matching cable.

[0040] The packaging shell IV of the present application adopts the above comprehensive design, which not only improves the convenience of installation and maintenance of the motor emergency brake equipment, but also significantly improves the long-term reliability and safety of the motor emergency brake equipment in complex industrial sites.

[0041] In a specific embodiment, the drive connector provided by the present application exemplarily comprises a circular connector "09151073001 female core", "09151006121 pin" and "09151000306 panel mounting base", each pin can withstand a rated current of 20A and a rated voltage of 300V, the drive connector is safe and reliable, easy to use and replace, and convenient for modular integration. The "09151073001 female core" has 7 pins. Since the servo drive outputs three-phase power output U, W, V and PE protective ground for each motor, only 1-4 pins of the "09151073001 female core" are used. Further, one end of the drive connector is connected to the three-phase motor output and PE protective ground corresponding to the drive connector through a plug and a matching cable provided by the servo drive. The other end of the drive connector is connected to the brake unit corresponding to the drive connector provided by the brake board card III through a plug and a matching cable.

[0042] In a specific embodiment, the motor connector exemplarily comprises a circular connector "09151073101 female core", "09151006221 pin" and "09151000306 panel mounting base", each pin can withstand a rated current of 20A and a rated voltage of 300V, the motor connector is safe and reliable, easy to use and replace, and convenient for modular integration. Each "09151073101 female core" has 7 pins. Since the present application is applied to a three-phase motor, only 1-4 pins provided by the "09151073101 female core" are used. One end of the motor connector is connected to the brake board card III through a plug and a matching cable, and the other end is connected to the corresponding three-phase motor through a plug and a matching cable.

[0043] In another specific embodiment, the signal connector II exemplarily selects a circular connector "EEG.0B.306.CLL". One end of the signal connector II is connected to the brake board card III through a plug and a matching data line, and the other end of the signal connector II is connected to the upper computer through a plug and a matching data line. The signal connector II provides the power supply (+24V) required by the brake board card III, receives the action instruction (at least including the self-check instruction and the brake instruction) sent by the upper computer to the board card module III, and transmits the self-check normal / brake success / self-check abnormal / brake failure instruction sent by the brake board card III to the upper computer.

[0044] In a preferred embodiment, please refer to Figure 4 , Figure 4 A circuit structure schematic diagram of a brake board card provided by an embodiment of the present application is shown. As Figure 4The brake board card III shown includes a power supply isolation unit 10 integrated on a circuit board, a plurality of brake units 20 corresponding to the motors one by one, a self-checking unit 30, a master control unit 40, a communication unit 50 and an energy storage unit 60.

[0045] Preferably, the input end of the power supply isolation unit 10 is connected to the power supply provided by the upper computer through the signal connector II and the matching data line, and in a specific embodiment, the power supply is +24V, and the output end of the power supply isolation unit 10 is connected to the power supply input end of the brake unit 20, so as to provide working voltage for each brake unit 20.

[0046] The control signal input end of each brake unit 20 is connected to the same brake signal output end provided by the master control unit 40, and for each brake unit 20, the three-phase output end of the brake unit 20 is connected to the three-phase power output (U, V, W) of the corresponding motor provided by the servo driver b through the brake connector X corresponding to the brake unit and the matching cable, and the three-phase output end of the brake unit is also connected to the three-phase power input (U, V, W) of the corresponding motor z through the motor connector Y corresponding to the brake unit and the matching cable, and for each self-checking unit 30, the self-checking unit 30 is connected to the three-phase output end of each brake unit 20 and the master control unit 40, respectively, the communication unit 50 is connected in series between the upper computer and the master control unit 40, and the energy storage unit 60 is connected to the input end of the power supply isolation unit 10, and the energy storage unit 60 provides short-time power supply for the brake board card III when the power supply +24V provided by the upper computer is abnormally powered off.

[0047] In a specific embodiment, the data feedback pin of the master control unit 40 is connected to the data acquisition end of the upper computer in sequence through the communication unit 50, the signal connector II and the matching data line, and the instruction receiving pin of the master control unit 40 is connected to the instruction issuing end of the upper computer in sequence through the communication unit 50, the signal connector II and the matching data line.

[0048] In this application, the master control unit has programmable timing control and multi-channel IO output capability, specifically including but not limited to any one of the following: FPGA, MCU, DSP and SoC.

[0049] In a preferred embodiment, the motor emergency brake device provided by the application includes the following corresponding brake processes: The main control unit 40 receives the brake instruction issued by the host computer through the communication unit 50, and outputs the brake signal to each brake unit 20 through the brake signal output end after a preset delay time, so as to control each brake unit 20 to be turned on, so as to short-circuit the three-phase windings of each motor. After a preset interval time (for example, 1 us ~ 3 us), the self-check unit 30 is enabled, the brake closed-loop self-check is performed through the self-check unit 30, the first self-check result is determined according to the on-off result of each brake unit 20 corresponding to the self-check unit 30 output, and the first self-check result is sent to the host computer by the main control unit 40 through the communication unit 50, the signal connector II and the matching data line.

[0050] Specifically, the purpose of enabling the self-check unit 30 after the main control unit 40 outputs the brake control signal to the brake unit 20 for a preset interval time is to ensure that all control switches in all brake units are turned on before being enabled, so as to prevent misjudgment.

[0051] Specifically, according to the self-check unit output result, if it is determined that each brake unit 20 is all turned on, it is determined that the first self-check result is brake success, and if any brake unit 20 is in an off state, it is determined that the first self-check result is brake failure.

[0052] In order to prevent short-circuiting the output servo driver, the host computer identifies that emergency braking is needed, and immediately issues an emergency braking command, and controls the servo driver to stop working. After receiving the emergency braking command, the motor emergency braking device delays for a preset delay time (to ensure that the servo driver completes the stop working of the power output of all motors), and then performs the short-circuiting action. At this time, the short-circuiting action only short-circuits the three-phase windings of the motor.

[0053] In another preferred embodiment, after the motor emergency braking device is started and enters the initialization state, the initialization self-check is performed, including that the main control unit 40 receives the initialization self-check instruction issued by the host computer through the communication unit 50, outputs the brake signal to each brake unit 20 through the brake signal output end after a preset delay time, so as to control each brake unit 20 to be turned on, short-circuit the three-phase windings of each motor, and enable the self-check unit 30 after a preset interval time, perform the initialization self-check through the self-check unit 30, determine the second self-check result for the initialization self-check instruction according to the on-off result of each brake unit corresponding to the self-check unit output, the second self-check result is initialization self-check success or initialization self-check failure, and the main control unit sends the second self-check result to the host computer through the communication unit 50, the signal connector II and the matching data line.

[0054] In the present application, the self-checking process performed by the self-checking unit 30 is divided into brake closed-loop self-checking and initialization self-checking, the initialization self-checking is performed during the power-on initialization process of the motor emergency braking device, specifically, after the motor emergency braking device is powered on, the motor emergency braking device responds to the initialization self-checking instruction issued by the upper computer to perform the above initialization self-checking process, the initialization self-checking process is to determine whether each brake unit 20 fails (specifically including stuck failure, self-acting and non-response braking), and the brake closed-loop self-checking is performed after the motor emergency braking device completes the power-on initialization and passes the initialization self-checking, that is, after each brake unit completes the action corresponding to the braking instruction in response to the braking instruction of the motor emergency braking device, the corresponding brake closed-loop self-checking is performed to determine whether each brake unit is truly closed under the action of the braking instruction.

[0055] In a preferred embodiment, please refer to Figure 5 , Figure 5 A second circuit structure schematic diagram of the brake board card is shown. Figure 5 The connection of the brake board card to the motor z1 is shown, and the connection modes of other motors are similar and will not be described further, specifically, as shown in Figure 5 , the power supply isolation unit 10 includes a high-voltage isolation component T1 and a low-voltage isolation component T2, the power supply input end of the brake unit includes a high-voltage driving end and a low-voltage driving end, wherein the input side of the high-voltage isolation component T1 and the input side of the low-voltage isolation component T2 are connected to the power supply (+24V), and the output side of the high-voltage isolation component T1 leads out a high-voltage driving power supply end HV_H and a high-voltage power supply ground H_GND, respectively.

[0056] The high-voltage driving power supply end HV_H is connected to the high-voltage driving end of each motor corresponding brake unit, the high-voltage power supply ground H_GND is connected to the ground end of each motor corresponding brake unit, the output side of the low-voltage isolation component T2 leads out a low-voltage driving power supply end HV_L and a low-voltage power supply ground L_GND, respectively, and the low-voltage driving power supply end HV_L is connected to the low-voltage driving end of each motor corresponding brake unit.

[0057] In a specific embodiment, in order to meet the safety requirements of IEC-60950 standard for safety extra-low voltage SELV and hazardous voltage HV isolation, the +24V power supply is regarded as safety extra-low voltage SELV, and the three-phase electricity U, V, W accessed by the motor is regarded as hazardous voltage HV, therefore, the power supply isolation unit 10 is designed in the present application, the high-voltage isolation component T1 and the low-voltage isolation component T2 in the power supply isolation unit 10 adopt an isolation type DC-DC voltage converter, for example, the high-voltage isolation component T1 selects THM-10-2413, which can isolate and convert the input side voltage (+24V) to 15V output, that is, HV_H=15V, the high-voltage isolation component T1 provides stable high-voltage side driving power supply for the brake unit on one hand, and generates the current required by the self-checking unit 30 on the other hand.

[0058] The low-voltage isolation component T2 is selected as THM-10-2411, which can convert the input side voltage (+24V) into 5V output, that is, HV_L = 5V. The output side of the low-voltage isolation component T2 provides a stable low-voltage side driving power supply for the brake unit on the one hand, and generates a safe extra-low voltage SELV required by the main control unit 40 and the communication unit 50 on the other hand, thereby ensuring complete electrical isolation between the SELV low-voltage area and the HV high-voltage area, protecting personnel safety and other units of the brake board card III from being affected.

[0059] In a preferred embodiment, the brake unit corresponding to the motor z1 includes a plurality of on-off controllers 20Uz1, 20Vz1 and 20Wz1 corresponding to the three-phase windings of the motor z1, and the brake connector corresponding to the motor z1 includes a driving connector X1 and a motor connector Y1. Figure 5 The high-voltage driving end of the on-off controller 20Uz1, 20Vz1 and 20Wz1 is connected to the high-voltage driving power supply end HV_H of the high-voltage isolation component T1, the low-voltage driving end of the on-off controller 20Uz1, 20Vz1 and 20Wz1 is connected to the low-voltage driving power supply end HV_L of the high-voltage isolation component T1, the control end of the on-off controller 20Uz1, 20Vz1 and 20Wz1 is connected to the same brake signal output end of the main control unit, the ground end of the on-off controller 20Uz1, 20Vz1 and 20Wz1 is connected to the high-voltage power supply ground H_GND, the output end of the on-off controller 20Uz1, 20Vz1 and 20Wz1 is connected to the corresponding three-phase power output (U, V, W) of the motor z1 through the corresponding driving connector X1 and its matching cable, and the output end of the on-off controller 20Uz1, 20Vz1 and 20Wz1 is also connected to the corresponding three-phase power input (U, V, W) of the motor through the motor connector Y1 and its matching cable.

[0060] In a preferred embodiment, the control end of the on-off controller receives the brake control signal issued by the main control unit, controls the on-off controller to close, and shorts the corresponding phase winding of the motor connected to the on-off controller. After the on-off controller shorts the corresponding phase winding, the high-voltage isolation component T1 is connected to the corresponding high-voltage power supply ground H_GND.

[0061] Taking the on-off controller 20Uz1 as an example, after the control end of the on-off controller 20Uz1 receives the brake control signal issued by the main control unit 40, the on-off controller 20Uz1 is controlled to close, so that the corresponding phase winding U of the motor z1 connected to the on-off controller 20Uz1 is short-circuited, and the corresponding phase winding U of the motor z1 is connected to HV_GND.

[0062]

[0063] ​In a preferred embodiment, the on-off controller comprises a control switch and a switch driving chip, specifically, as shown in Figure 5 The on-off controller 20Uz1 comprises a control switch K1U and a switch driving chip Q1U, the on-off controller 20Vz1 comprises a control switch K1V and a switch driving chip Q1V, the on-off controller 20Wz1 comprises a control switch K1W and a switch driving chip Q1W, the control switch comprises but is not limited to any one of the following: IGBT, MOSFET, SiC MOSFET, and the control switch is preferably IGBT, and the example selected model is “IKW40N120H3”.

[0064] The switch driving chip comprises but is not limited to any one of the following gate drivers with high-low side isolation driving capability: 1ED3491, HCPL-3120, Si8230, and IR2110.

[0065] The brake board of the present application also comprises a connection socket corresponding to each on-off controller, as shown in Figure 2 The connection socket mainly comprises three connection sockets P1U, P1V, P1W corresponding to the motor z1, three connection sockets P2U, P2V, P2W corresponding to the motor z2, and three connection sockets P3U, P3V, P3W corresponding to the motor z3, and the example selected model of the connection socket is “1924305”.

[0066] Preferably, taking the on-off controllers 20Uz1 (the corresponding connection socket is P1U), 20Vz1 (the corresponding connection socket is P1V), and 20Wz1 (the corresponding connection socket is P1W) as an example, the high-voltage driving end of the switch driving chip Q1U, Q1V, Q1W is connected to the high-voltage driving power supply end HV_H of the high-voltage isolation component T1, the low-voltage driving end of the switch driving chip Q1U, Q1V, Q1W is connected to the low-voltage driving power supply end HV_L of the high-voltage isolation component T2, the control end of the switch driving chip Q1U, Q1V, Q1W is connected to the same brake signal output end of the main control unit 40, the output end of the switch driving chip Q1U is connected to the control end of the control switch K1U, the output end of the switch driving chip Q1V is connected to the control end of the control switch K1V, and the output end of the switch driving chip Q1W is connected to the control end of the control switch K1W.

[0067] In the present application, the control end of all switch driving chips is connected to the same brake signal output end of the main control unit 40, ensuring that the conduction synchronization deviation of all control switches is <1 µs.

[0068] The first connection end of the control switch K1U, the first connection end of the control switch K1V, and the first connection end of the control switch K1W are respectively connected to the high-voltage power supply ground HV_GND.

[0069] The second connection end of the control switch K1U is connected to the corresponding U-phase power output of the motor z1 on the servo driver through the first pin of the connection socket P1U, the matched plug and cable of the connection socket P1U, the drive connector X1 and the matched cable thereof in sequence, and the second connection end of the control switch K1U is also connected to the corresponding U-phase power input of the motor z1 on the servo driver through the second pin of the connection socket P1U, the matched plug and cable of the connection socket P1U, the motor connector Y1 and the matched cable thereof in sequence.

[0070] The second connection end of the control switch K1V is connected to the corresponding V-phase power output of the motor z1 on the servo driver through the first pin of the connection socket P1V, the matched plug and cable of the connection socket P1V, the drive connector X1 and the matched cable thereof in sequence, and the second connection end of the control switch K1V is also connected to the corresponding V-phase power input of the motor z1 on the servo driver through the second pin of the connection socket P1V, the matched plug and cable of the connection socket P1V, the motor connector Y1 and the matched cable thereof in sequence.

[0071] The second connection end of the control switch K1W is connected to the corresponding W-phase power output of the motor z1 on the servo driver through the first pin of the connection socket P1W, the matched plug and cable of the connection socket P1W, the drive connector X1 and the matched cable thereof in sequence, and the second connection end of the control switch K1W is also connected to the corresponding W-phase power input of the motor z1 on the servo driver through the second pin of the connection socket P1W, the matched plug and cable of the connection socket P1W, the motor connector Y1 and the matched cable thereof in sequence.

[0072] The control end of the control switch is the gate of the IGBT, the first connection end of the control switch is the emitter of the IGBT, and the second connection end of the control switch is the collector of the IGBT.

[0073] Specifically, in the embodiment given, the control ends of the switch drive chips Q1U, Q1V and Q1W respond to the brake control signals issued by the main control unit 40 to control the corresponding control switches K1U, K1V and K1W to be closed to short-circuit the three-phase windings of the motor z1. Figure 5

[0074] Specifically, after the three-phase windings of the motor are short-circuited, the rotor continues to move due to its inertia, so that the motor enters a power generation state, and a back electromotive force is generated in the windings. At this time, the extremely low impedance closed loop formed by the short circuit will generate a very large short-circuit current. The magnetic field generated by this current interacts with the magnetic field of the rotor to form a strong reverse braking torque, which rapidly converts the mechanical kinetic energy of the rotor into heat energy and loss of the windings, rapidly reduces the speed of the motor, and achieves the effect of rapid parking.

[0075] ​In a preferred embodiment, the self-checking unit 30 comprises a constant current source, a single-phase self-checking circuit corresponding to each phase of the three-phase winding of the motor, the single-phase self-checking circuit corresponding to a corresponding on-off controller, the first connection end of the single-phase self-checking circuit being connected to the constant current source, the second connection end of the single-phase self-checking circuit being connected to the output end of the corresponding on-off controller, and the third connection end of the single-phase self-checking circuit being connected to the master control unit. Specifically, the constant current source can be a power supply chip with a model number of "TLV62130", and the corresponding output voltage can be configured, for example, the output can be configured to be 5V.

[0076] In this application, the single-phase self-checking circuit can be a detection circuit that can provide a stable detection current and form a specific loop, such as a detection circuit formed by an LDO and a current limiting resistor, a detection circuit formed by a constant voltage source and a current limiting resistor, etc., which is not specifically limited here.

[0077] In a specific embodiment, when the corresponding on-off controller of the single-phase self-checking circuit is turned on, the single-phase self-checking circuit outputs a successful conduction signal to the master control unit, and when the corresponding on-off controller of the single-phase self-checking circuit is turned off, the single-phase self-checking circuit outputs a failed conduction signal to the master control unit. When the master control unit detects that all signals fed back by the single-phase self-checking circuit are successful conduction signals, it determines that the brake is successful or the initialization self-checking is successful. If the master control unit detects that any signal fed back by the single-phase self-checking circuit is a failed conduction signal, it determines that the brake is failed or the initialization self-checking is failed.

[0078] In a preferred embodiment, as shown in Figure 5 The single-phase self-checking circuit corresponding to the on-off controller 20Wz1 comprises a first optocoupler switch B1W and its corresponding current limiting resistor R1W, a super-high-speed high-voltage diode D1W, and a level conversion chip E1W. The single-phase self-checking circuit corresponding to the on-off controller 20Vz1 comprises a first optocoupler switch B1V and its corresponding current limiting resistor R1V, a super-high-speed high-voltage diode D1V, and a level conversion chip E1V. The single-phase self-checking circuit corresponding to the on-off controller 20Uz1 comprises a first optocoupler switch B1U and its corresponding current limiting resistor R1U, a super-high-speed high-voltage diode D1U, and a level conversion chip E1U.

[0079] In this application, the first optocoupler switch is selected to have a model number of "FOD8482", and the super-high-speed high-voltage diode is selected to have a model number of "STTH112". The super-high-speed high-voltage diode is used to protect the corresponding first optocoupler switch from being damaged by high voltage of the servo driver or the motor, and the level conversion chip is exemplarily selected to have a model number of "NXB0104PWJ".

[0080] Preferably, taking the single-phase self-checking circuit corresponding to the on-off controller 20Wz1 as an example, the constant current source is connected to the input side anode of the first optocoupler switch B1W through the current-limiting resistor R1W, the input side cathode of the first optocoupler switch B1W is connected to the output end of the on-off controller 20Wz1 (i.e. the second connection end of the control switch K1W) through the super-high-speed high-voltage diode D1W, and the output side of the first optocoupler switch B1W is connected to the main control unit 40 through the level conversion chip E1W. The connection modes of the single-phase self-checking circuits corresponding to the other on-off controllers are similar, and will not be described in detail here.

[0081] In the specific embodiment, taking the single-phase self-checking circuit corresponding to the on-off controller 20Wz1 as an example, when the control switch K1W corresponding to the on-off controller 20Wz1 is turned on, the input side current of the first optocoupler switch B1W reaches the working condition, the output side of the first optocoupler switch B1W is turned on (output high level), and the successful conduction signal (3.3V high level signal) is output to the main control unit 40 through the level conversion chip E1W.

[0082] When the on-off controller 20Wz1 is turned off, the input side current of the first optocoupler switch K1W does not reach the working condition, the output side of the first optocoupler switch K1W is cut off (output low level), and the failed conduction signal (low level signal) is output to the main control unit 40 through the level conversion chip E1W.

[0083] The working processes of the other single-phase self-checking circuits are similar, and will not be described in detail here.

[0084] In a preferred embodiment, the energy storage unit 60 is formed by a super capacitor management chip (LTC3350) combined with a plurality of parallelly connected super capacitors (four 3F / 2.7 V super capacitors of model “850617030001”). The super capacitor management chip further integrates a capacitor equalization circuit and a capacitor group state monitoring interface (PFO, CAP_READY, FAULT) inside. The state monitoring signal of the energy storage unit output by the capacitor group state monitoring interface is transmitted to the main control unit 40 through a digital isolation chip, realizing real-time monitoring and recording of the power-off state of the brake board card, ensuring that the braking process can still be realized in the case of external abnormal power-off, and ensuring that the feedback communication is complete and uninterrupted in the case of power-off.

[0085] In the present application, the energy storage unit 60 can also be selected to use a DC-DC module and an MCU to monitor the charging and discharging of the super capacitor, or use a large-capacitance energy storage, etc.

[0086] When the brake board card III does not occur power-off, the energy storage unit 60 works in the Buck mode, and the power supply +24V provided by the upper computer is used to stabilize and charge the energy storage unit 60. In the case of selecting the above-mentioned model, the energy storage unit 60 is charged to 10.8 V.

[0087] When the brake board card is powered off (the power supply +24V abnormally drops, <23V), the super capacitor management chip in the energy storage unit quickly switches to the Boost mode within 1µs to boost the energy stored in the super capacitor to the power supply +24V to continue to provide stable power supply for the brake board card, and the power supply duration is more than 1 second.

[0088] In the present application, once the motor emergency brake equipment fails to power off, the energy storage unit 60 immediately replaces the power supply provided by the upper computer to supply power to the equipment, and the motor emergency brake equipment immediately notifies the upper computer through the communication unit 50. After the upper computer receives the power-off of the motor emergency brake equipment, it immediately stops the power output of the servo driver, then generates a brake command and synchronizes it to the motor emergency brake equipment through the communication unit, so that the motor emergency brake equipment executes the subsequent brake action, thereby preventing the motor emergency brake equipment from braking itself and damaging the servo driver.

[0089] The above process should be completed in a very short time, and the energy storage unit provides the required energy for the above process when the system is powered off, so that the brake can still be reliably completed in the power-off extreme case and the safety of the equipment is ensured.

[0090] In the present application, the upper computer determines whether to trigger the execution instruction according to the related fault data fed back by the motor emergency brake equipment, i.e. the motor emergency brake equipment itself is prevented from triggering the brake action, and it must respond to the brake command of the upper computer to execute the corresponding brake.

[0091] In an embodiment of the present application, the master control unit 40 exemplarily adopts the model "XC7A100T-2CSG324I", which supports the adjustable function of the preset delay time.

[0092] The master control unit is also connected to the temperature state feedback end of each switch driving chip in the brake unit, the temperature state feedback end of the energy storage unit, and the power supply state feedback end, the temperature state feedback end of the switch driving chip outputs the temperature state of the switch driving chip, the temperature state feedback end of the energy storage unit outputs the temperature state of the energy storage unit, and the power supply state feedback end of the energy storage unit outputs the power supply state of the motor emergency brake equipment provided by the upper computer, wherein the master control unit reads the corresponding temperature state of each switch driving chip, the corresponding temperature state of the energy storage unit, and the corresponding power supply state of the motor emergency brake equipment; the master control unit sends the corresponding temperature state of each switch driving chip, the corresponding temperature state of the energy storage unit, and the corresponding power supply state of the motor emergency brake equipment to the upper computer through the communication unit.

[0093] In a preferred embodiment, as Figure 5As shown, the communication unit 50 includes a first signal isolation component 501 and a plurality of second signal isolation components 502. The signal isolation components can be optocoupler switches (such as FOD8482 optocoupler), magnetic coupling switches, digital isolators, or any other device that has the ability to isolate logic levels and transmit signals.

[0094] In this application, a voltage stabilizing diode TVS (exemplary selection PESD30VF1BBL-QYL) is arranged on each signal link between the corresponding host computer of the communication unit 50 and the main control unit 40 to resist surges of up to ±12kV and transient static discharge, ensuring reliable communication.

[0095] In a specific embodiment, in this application, each switch driving chip has an over-temperature protection function integrated inside. When the internal temperature of the switch driving chip reaches 160°C, the switch driving chip will automatically enter a protection mode and stop outputting, thereby protecting the control switch and the driving circuit driven by the switch driving chip from being damaged. After the switch driving chip automatically enters the protection mode, a corresponding temperature fault signal is output to the main control unit 40 through the temperature state feedback end of the switch driving chip. After the main control unit acquires the signal, a corresponding fault signal of the switch driving chip is generated and sent to the host computer through the corresponding second signal isolation component 502.

[0096] The supercapacitor management chip in the energy storage unit 60 integrates a dedicated temperature detection function, and outputs the temperature state of the supercapacitor management chip through a corresponding temperature state feedback end. An NTC thermistor is arranged on the supercapacitor in the energy storage unit 60 to monitor the working temperature of the supercapacitor in real time. The NTC thermistor is connected to the main control unit 40. When the main control unit 40 receives a temperature anomaly of the supercapacitor management chip or determines that the working temperature of the supercapacitor is abnormal, a corresponding abnormal signal is generated and fed back to the host computer through the corresponding second signal isolation component 502, preventing performance degradation or safety hazards caused by excessive temperature.

[0097] The supercapacitor management chip in the energy storage unit 60 also integrates a power failure detection function. Once it detects a power failure of the power supply provided by the host computer, a corresponding power failure signal is output to the main control unit 40 through a power supply state feedback end. In response to the power failure signal, the main control unit 40 generates a corresponding power failure fault signal and feeds it back to the host computer through the corresponding second signal isolation component 502.

[0098] In this application, the first self-test result for brake closed-loop self-test and the second self-test result for initialization self-test instruction obtained by the main control unit 40 are sent to the host computer through the corresponding second signal isolation component 502.

[0099] In addition, the master control unit 40 receives the initialization self-checking instruction and the braking instruction issued by the upper computer through the first signal isolation component 501. Specifically, when the first signal isolation component 501 fails or the current loop on the input side thereof is disconnected, the default state of the signal is Fail-Safe, that is, the braking instruction and the initialization self-checking instruction issued by the upper computer are considered to be valid in the default state, thereby ensuring safety. The second signal isolation component 502 is similar, and thus will not be described in detail herein.

[0100] The application has the advantages that: 1. A mechanical braking-free mode based on the short-circuit principle of a three-phase motor is adopted. Specifically, a high-speed power device (such as an IGBT) is used to quickly short-circuit the corresponding three-phase winding of the motor, so as to form a back electromotive force and a short-circuit current, thereby achieving motor braking. The motor braking is completely independent of mechanical friction elements, and thus problems such as wear, vibration, noise, short service life, etc. can be avoided.

[0101] 2. High-precision adjustable delay control mechanism After the upper computer issues a braking instruction, the three-phase short-circuit is not immediately closed, but is triggered through an adjustable delay (provided by a control unit with microsecond / sub-millisecond timing function). This effectively prevents conflicts between the servo driver and the motor emergency braking device, and ensures smooth and reliable circuit switching. The delay time can be accurately controlled to the microsecond / sub-millisecond level, ensuring high precision and flexible configuration.

[0102] 3. A self-checking unit for detecting the on-off state of the control switch is provided. A constant current source + optocoupler isolation detection structure is adopted to support the on-off self-checking of the initialization process before braking and the closed state feedback after braking. This mechanism ensures that the working state of each control switch can be monitored in real time, effectively improving the reliability and diagnosability of the entire system.

[0103] 4. An energy storage unit is provided. After the power supply provided by the upper computer abnormally powers off, the energy storage unit forcibly starts the brake function. Specifically, the energy storage power supply integrates a super capacitor energy storage scheme (controlled by LTC3350), which can maintain the operation of the brake board for about 3 seconds when the external power supply is abnormally disconnected, ensuring that the system can complete the braking action even in a power-off scenario, and timely feedback the power-off state and the braking implementation to the upper computer.

[0104] 5. The brake board supports the ability to receive externally transmitted action instructions (including initialization self-checking instructions and braking instructions), and has the ability to feedback the state of the execution result of the action instructions, as well as the ability to feedback the corresponding abnormal state of the brake board. The entire instruction link / feedback link is isolated and protected through signal isolation components, thereby improving signal reliability and system safety level.

[0105] 6. The motor emergency braking device provided by the application adopts a modular and integrated device structure design, is provided with a driving connector, a motor connector and a signal connector, and the brake plate card is integrated in a waterproof, oil-proof and dust-proof shell, is suitable for various industrial sites, and can be conveniently integrated in an existing system without the need of modifying an original driver and motor.

[0106] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system and device described above can refer to the corresponding process in the foregoing method embodiments, which will not be described here. In several embodiments provided by the application, it should be understood that the disclosed system, device and method can be implemented by other ways. The device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and there can be another division manner in actual implementation, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some communication interfaces, devices or units, and can be electrical, mechanical or other forms.

[0107] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place or distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0108] In addition, the functional units in each embodiment of the application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit.

[0109] If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a non-volatile computer readable storage medium executable by a processor. Based on this understanding, the technical solutions of the application essentially or the parts of the prior art or the parts of the technical solutions can be embodied in the form of software products, and the computer software products are stored in a storage medium, including a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the application. The foregoing storage medium includes a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0110] The above merely provides the specific implementation of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An emergency braking device for an electric motor, characterized in that, The motor emergency braking device is equipped with multiple brake connectors and signal connectors. Each brake connector corresponds one-to-one with a specific motor. The motor emergency braking device is connected in series between the servo driver and the corresponding motor via the brake connectors and their associated cables. The motor emergency braking device is also connected to a host computer via signal connectors and their associated data cables. The motor emergency braking device receives a braking command from the host computer and, after a preset delay time, controls all motors to enter a three-phase short circuit, thus completing the braking control of multiple motors.

2. The motor emergency braking device according to claim 1, characterized in that, The motor emergency braking device also includes a brake plate and a housing. A brake connector and a signal connector are fixedly mounted on the surface of the housing, and the brake plate is fixedly mounted inside the housing. The brake connector includes a drive connector and a motor connector. The drive connector connects the three-phase power output of the servo driver for the corresponding motor to the brake board via its matching cable. The motor connector connects the three-phase power input of the motor to the three-phase power output terminal of the servo driver and the brake board via its matching cable. The signal connector connects the data interaction terminal of the host computer and the power supply provided by the host computer to the brake board via its matching cable. The braking board receives a braking command from the host computer and, after a preset delay time, short-circuits the three phases of the motor to complete the motor braking.

3. The motor emergency braking device according to claim 2, characterized in that, The encapsulation shell is provided with multiple standard fixing holes corresponding to each connector. Each connector is installed and fixed on the encapsulation shell by a given mechanical structure and the corresponding standard fixing holes. The encapsulation shell adopts a fully enclosed metal structure, and rubber rings or silicone gaskets are used to seal important standard fixing holes; The brake plate is fixed inside the encapsulation shell using a second given mechanical structure.

4. The motor emergency braking device according to claim 2, characterized in that, The braking board includes a power supply isolation unit integrated on a circuit board, multiple braking units corresponding to the motors, a self-test unit, a main control unit, a communication unit, and an energy storage unit. The input terminal of the power supply isolation unit is connected to the power supply provided by the host computer via the signal connector and its matching cable. The output terminal of the power supply isolation unit is connected to the power supply input terminal of the braking unit. The control signal input terminals of all braking units are connected to the same braking signal output terminal of the main control unit. The three-phase output terminals of the braking units are respectively connected to the three-phase power output of the corresponding motor provided by the servo driver via the brake connector and its matching cable. The three-phase output terminals of the braking units are also connected to the three-phase power input of the corresponding motor via the corresponding motor connector and its matching cable. The self-test unit is connected to the three-phase output terminal of each braking unit and the main control unit. The communication unit is connected to the host computer and the main control unit. The energy storage unit is connected to the input terminal of the power supply isolation unit. The energy storage unit provides short-term power to the braking board when the power supply provided by the host computer fails abnormally. The main control unit receives braking commands from the host computer via the communication unit, and after a preset delay time, outputs braking signals to each braking unit via the braking signal output terminal to control each braking unit to conduct, thereby short-circuiting the three-phase windings of each motor. After a preset interval time, the self-test unit is enabled to perform a closed-loop self-test of the brake. Based on the on / off result of each braking unit output by the self-test unit, a first self-test result is determined, which is either braking success or braking failure. The main control unit sends the first self-test result to the host computer through the communication unit, signal connector and its matching data cable.

5. The motor emergency braking device according to claim 4, characterized in that, The main control unit receives the initialization self-test command issued by the host computer through the communication unit. After a preset delay time, it outputs a brake signal to each brake unit through the brake signal output terminal to control each brake unit to conduct, short-circuit the three-phase winding of each motor, and enable the self-test unit after a preset interval time. The initialization self-test is performed by the self-test unit. Based on the on / off result of each brake unit output by the self-test unit, the second self-test result for the initialization self-test command is determined. The second self-test result is either initialization self-test successful or initialization self-test failed. The main control unit sends the second self-test result to the host computer through the communication unit, signal connector and its matching data cable.

6. The motor emergency braking device according to claim 4, characterized in that, The power supply isolation unit includes a high-voltage isolation component and a low-voltage isolation component, and the power supply input terminal of the braking unit includes a high-voltage drive terminal and a low-voltage drive terminal. The input side of the high-voltage isolation component and the input side of the low-voltage isolation component are respectively connected to the power supply via signal connectors and their matching data lines; The output side of the high-voltage isolation component leads out a high-voltage drive power supply terminal and a high-voltage power ground, respectively. The high-voltage drive power supply terminal is connected to the high-voltage drive terminal of the corresponding brake unit of each motor, and the high-voltage power ground is connected to the ground terminal of the corresponding brake unit of each motor. The output side of the low-voltage isolation component leads out a low-voltage drive power supply terminal and a low-voltage power ground, respectively. The low-voltage drive power supply terminal is connected to the low-voltage drive terminal of the corresponding brake unit of each motor.

7. The motor emergency braking device according to claim 6, characterized in that, The brake control assembly includes multiple on / off controllers corresponding one-to-one with the three-phase windings of the motor. The high-voltage drive terminal of each on / off controller is connected to the high-voltage drive power supply terminal of the power supply isolation unit, and the low-voltage drive terminal is connected to the low-voltage drive power supply terminal of the power supply isolation unit. The control terminal of each on / off controller is connected to the brake signal output terminal of the main control unit, and the ground terminal is connected to the high-voltage power ground. The output terminals of each on / off controller are connected to the corresponding phase power output of the servo driver via corresponding drive connectors and their matching cables. The output terminals of each on / off controller are also connected to the corresponding phase power input of the motor via corresponding motor connectors and their matching cables. The on / off controller receives a braking control signal from the main control unit and controls itself to close, thereby short-circuiting the phase winding of the motor connected to the on / off controller.

8. The motor emergency braking device according to claim 7, characterized in that, The on / off controller includes a control switch and a switch driver chip. Specifically, for each on / off controller corresponding to the motor: the high-voltage drive terminal of the switch driver chip is connected to the high-voltage drive power supply terminal of the high-voltage isolation component, the low-voltage drive terminal of the switch driver chip is connected to the low-voltage drive power supply terminal of the low-voltage isolation component, the control terminal of the switch driver chip is connected to the brake signal output terminal of the main control unit, the output terminal of the switch driver chip is connected to the control terminal of the control switch, the first connection terminal of the control switch is connected to the high-voltage power ground, and the second connection terminal of the control switch is connected to the corresponding phase power output of the motor on the servo driver through the drive connector and its matching cable, and to the corresponding phase power input on the motor through the motor driver and its matching cable; The control terminal of the switch driver chip responds to the brake control signal issued by the main control unit and controls the corresponding control switch to close, so as to short-circuit the phase winding of the motor connected to the controller.

9. The motor emergency braking device according to claim 7, characterized in that, The self-test unit includes a constant current source and a single-phase self-test circuit corresponding to each of the three-phase windings of the motor. Each single-phase self-test circuit corresponds to an on / off controller. The first connection terminal of the single-phase self-test circuit is connected to the constant current source, the second connection terminal of the single-phase self-test circuit is connected to the output terminal of the corresponding on / off controller, and the third connection terminal of the single-phase self-test circuit is connected to the main control unit. The brake self-test includes: When the corresponding on / off controller is turned on, the single-phase self-test circuit outputs a successful on / off signal to the main control unit; When the corresponding on / off controller is disconnected, the single-phase self-test circuit outputs a conduction failure signal to the main control unit; When the main control unit detects that all signals fed back from the single-phase self-test circuits are successful conduction signals, it determines that the braking is successful or the initialization self-test is successful. If the main control unit detects that the signal fed back by any single-phase self-test circuit is a conduction failure signal, it determines that the braking has failed or the initialization self-test has failed.

10. The motor emergency braking device according to claim 9, characterized in that, The single-phase self-test circuit includes a first optocoupler switch and its corresponding current-limiting resistor, an ultra-high-speed high-voltage diode, and a level conversion chip. Specifically, for each single-phase self-test circuit: The constant current source is connected to the anode of the input side of the first optocoupler switch through a current-limiting resistor. The cathode of the input side of the first optocoupler switch is connected to the output terminal of the corresponding on / off controller through an ultra-high speed high voltage diode. The output side of the first optocoupler switch is connected to the main control unit through a level conversion chip. Specifically, for single-phase self-test circuits: When the corresponding on / off controller is turned on, the input current of the first optocoupler switch reaches the working condition, the output side of the first optocoupler switch is turned on, and the turn-on success signal is output to the main control unit through the level conversion chip; When the corresponding on / off controller is disconnected, the input current of the first optocoupler switch does not meet the operating conditions, the output of the first optocoupler switch is cut off, and the on / off failure signal is output to the main control unit through the level conversion chip.

11. The motor emergency braking device according to claim 4, characterized in that, When the brake plate does not lose power, the energy storage unit operates in Buck mode and uses the power supply provided by the host computer for regulated charging. When the brake plate loses power, the energy storage unit switches to Boost mode and uses the boosted voltage to continue providing stable power to the brake plate for a preset duration.

12. The motor emergency braking device according to claim 4, characterized in that, The main control unit is also connected to the temperature status feedback terminals provided by each switch driver chip in the braking unit, the temperature status feedback terminal provided by the energy storage unit, and the power supply status feedback terminal. The temperature status feedback terminal of the switch driver chip outputs the temperature status of the switch driver chip, the temperature status feedback terminal of the energy storage unit outputs the temperature status of the energy storage unit, and the power supply status feedback terminal of the energy storage unit outputs the power supply status provided by the host computer to the motor emergency braking device. The main control unit reads the temperature status of each switch driver chip, the temperature status of each energy storage unit, and the power supply status of each motor emergency braking device. The main control unit sends the temperature status of each switch driver chip, the temperature status of the energy storage unit, and the power supply status of the motor emergency braking device to the host computer through the communication unit.

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