Safety device and method for emergency braking of robot exoskeleton and computer readable storage medium

Abstract

The invention provides a safety device and method for emergency braking of a robot exoskeleton and a computer readable storage medium, the safety device is electrically connected to a motor of the robot exoskeleton and used for achieving emergency stopping of the robot exoskeleton, and the safety device comprises a safety controller; the relay module is electrically connected with the safety controller and a three-phase power line of the motor; the emergency brake starting device is electrically connected with the safety controller; wherein the safety controller is used for responding to a received braking signal sent by the emergency braking starting device and sending a first relay control signal to the relay module, and the first relay control signal is used for controlling the relay module to short-circuit a three-phase power line of the motor so as to brake the motor. Through the configuration, the motor can be braked through the short-circuit three-phase power line, and therefore convenient and safe braking of the robot exoskeleton is achieved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a safety device and method for emergency braking of a robotic exoskeleton, as well as a computer-readable storage medium. Background Technology

[0002] Robotic exoskeletons have become a recent trend in the field of rehabilitation, particularly in upper and lower limb rehabilitation. The development of exoskeletons requires a delicate balance of weight, strength, human experience, and movement. Exoskeletons are used in physical therapy rehabilitation to help improve muscle control and prevent muscle atrophy in disabled patients.

[0003] The motor is the core of the exoskeleton. Many brushless motors on the market do not have a braking system. The traditional approach is to install the braking system inside the motor housing. To implement a braking system, additional customization is required, including redesigning the mechanical structure and reassembling the motor. This often requires a long development time and high cost, and also significantly increases the structural weight, making exoskeleton development difficult. Summary of the Invention

[0004] Therefore, the present invention provides a safety device for emergency braking of a robotic exoskeleton to solve the above-mentioned problems.

[0005] To address the aforementioned technical problems, this invention provides a safety device electrically connected to a motor of a robot exoskeleton for emergency stopping of the robot exoskeleton. The safety device includes: a safety controller; a relay module electrically connected to the safety controller and the three-phase power lines of the motor; and an emergency braking activation device electrically connected to the safety controller. The safety controller, in response to receiving a braking signal from the emergency braking activation device, sends a first relay control signal to the relay module. This first relay control signal controls the relay module to short-circuit the three-phase power lines of the motor, thereby braking the motor.

[0006] Optionally, the relay module includes a first relay and a second relay, and the safety controller includes a signal input terminal connected to the first relay and the second relay for synchronously sending the first relay control signal to the first relay and the second relay.

[0007] Optionally, both the first relay and the second relay include a normally closed port and a common port, and the three-phase power lines are respectively connected to the normally closed port of the first relay, the normally closed port of the second relay, and the common port of the first relay and the second relay.

[0008] Optionally, the first relay control signal is a low-level signal, and in response to the low-level signal, the normally closed port of the first relay and the normally closed port of the second relay are controlled to connect to each other.

[0009] Optionally, the safety controller is used to synchronously send a second relay control signal to the first relay and the second relay during standard operation. The second relay control signal controls the first relay and the second relay not to short-circuit the three-phase power lines of the motor, so that the motor can operate normally.

[0010] Optionally, the second relay control signal is a high-level signal, and in response to the high-level signal, the normally open port of the first relay and the normally open port of the second relay are controlled to connect to each other.

[0011] Optionally, the safety controller is further configured to send the first relay control signal to the relay module after a preset delay time in response to receiving the braking signal.

[0012] Optionally, the emergency braking activation device includes: a main controller and an emergency braking switch device disposed within the robot exoskeleton; the emergency braking switch device includes a button exposed on the outer surface of the robot exoskeleton; the main controller is used to detect whether an error has occurred in the control program, and to issue the braking signal after detecting the error; the emergency braking switch device is used to detect whether a pressing operation has occurred, and to issue the braking signal after detecting the pressing operation.

[0013] The present invention also provides a computer-implemented method for emergency stopping of a robotic exoskeleton, the robotic exoskeleton including a motor, the method comprising: providing a safety device electrically connected to the motor of the robotic exoskeleton, the safety device including a safety controller, a relay module electrically connected to the safety controller, and an emergency braking initiation device, the relay module being electrically connected to the three-phase power supply line of the motor; sending a braking signal to the safety controller via the emergency braking initiation device; and, in response to the braking signal, sending a first relay control signal to the relay module via the safety controller to control the relay module to short-circuit the three-phase power supply line of the motor to brake the motor.

[0014] The present invention also provides a non-transitory computer-readable storage medium storing instructions that, when executed by at least one processor of a safety device electrically connected to a motor of a robotic exoskeleton and including a safety controller, a relay module, and an emergency braking activation device, cause the at least one processor to perform an emergency stop method for the robotic exoskeleton. The method includes: in response to receiving a braking signal from the emergency braking activation device of the safety device, sending a first relay control signal to the relay module of the safety device to control the relay module to short-circuit the three-phase power lines of the motor of the robotic exoskeleton, thereby braking the motor; wherein the relay module and the emergency braking activation device are electrically connected to the safety controller, and the relay module is electrically connected to the three-phase power lines of the motor.

[0015] The technical solution of this invention has the following advantages: With the aforementioned configuration, the motor can be braked by short-circuiting the three-phase power lines, thereby achieving convenient and safe braking of the robotic exoskeleton. For motors without brakes, the mandatory requirement for exoskeleton rehabilitation equipment to have safety devices can be met. For motors with brakes, additional safety measures are introduced, increasing the reliability of the exoskeleton, while saving design and installation costs, reducing the difficulty of developing a braking system, and facilitating patients' access to safe robotic exoskeletons. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a three-dimensional schematic diagram of a robot exoskeleton according to an embodiment of the present invention.

[0018] Figure 2 This is a side view of the robot exoskeleton according to an embodiment of the present invention.

[0019] Figure 3 for Figure 1 and Figure 2 The diagram shows an application scenario of a robotic exoskeleton.

[0020] Figure 4 This is a schematic block diagram of a safety device according to an embodiment of the present invention.

[0021] Figure 5 This is a schematic block diagram of a safety device according to another embodiment of the present invention.

[0022] Figure 6This is a schematic circuit diagram of a safety device according to an embodiment of the present invention.

[0023] Figure 7 This is a schematic diagram of the first relay according to an embodiment of the present invention, wherein the normally closed port NC is electrically connected to the common port C.

[0024] Figure 8 This is a schematic diagram of the first relay according to an embodiment of the present invention, wherein the normally open port NO is electrically connected to the common port C.

[0025] Figure 9 This is a schematic flowchart of an emergency stop method for a robotic exoskeleton according to one embodiment. Detailed Implementation

[0026] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0028] In one embodiment, a safety device for emergency stop of the robotic exoskeleton is mounted externally to the motors of the exoskeleton. This safety device prevents the motors of the robotic exoskeleton from rotating in the event of an unexpected power outage, a control program error during operation, or when the user presses the emergency stop button. The drag torque generated on the motors is large enough to slowly lower the exoskeleton without damaging any mechanical parts. In one embodiment, the motor may be a brushless DC motor (e.g., a brushless DC planetary gearbox motor) and may have three-phase power lines.

[0029] Figure 1 This is a schematic isometric view of a robotic exoskeleton according to one embodiment. Figure 2 This is a side view of the robot exoskeleton. Figure 3 yes Figure 1 and Figure 2 The diagram shows an application scenario of a robotic exoskeleton.

[0030] refer to Figures 1 to 3 In one embodiment, the robotic exoskeleton 100 has four degrees of freedom (DoF) in its rotational joints, which map to three joints on a human arm. The robotic exoskeleton 100 may include a base 101, a first rotational joint 102, a second rotational joint 103, a third rotational joint 104, and a fourth rotational joint 105. In one embodiment, a power supply is located in the base 101.

[0031] The first rotational joint 102 and the second rotational joint 103 correspond to the shoulder joint in the human body and are ball joints; the third rotational joint 104 corresponds to the ulnar-humeral joint in the human body and is a rotational joint; the fourth rotational joint 105 corresponds to the elbow joint in the human body and is a hinge joint.

[0032] This robotic exoskeleton 100 is used for physical therapy rehabilitation, helping to improve muscle control and prevent muscle atrophy in patients with disabilities. The robotic exoskeleton 100 can support the human arm and perform guided movements during rehabilitation training. The robotic exoskeleton 100 offers either a power-assisted mode or a resistance mode based on the user's muscle control. In power-assisted mode, the robotic exoskeleton 100 assists in stretching, while in resistance mode, it increases the intensity of the exercise.

[0033] In one embodiment, the robotic exoskeleton 100 may further include LED lights 105 and handles 106 for indicating operation. In one embodiment, a safety device may be disposed in the second rotary joint 103. In one embodiment, the motor 300 is a brushless DC motor disposed in the second rotary joint 103 of the robotic exoskeleton 100.

[0034] Figure 4 This is a schematic block diagram of a safety device according to one embodiment. Figure 5 This is a schematic block diagram of a safety device according to another embodiment. Figure 6 This is a schematic circuit diagram of a safety device according to one embodiment.

[0035] refer to Figure 4 A safety device 200 for emergency stopping of the robotic exoskeleton 100 is electrically connected to the motor 300 of the robotic exoskeleton 100. The safety device 200 may include a safety controller 201, a relay module 202, and an emergency braking activation device 203. The safety controller 201 is electrically connected to the emergency braking activation device 203 and the relay module 202. The relay module 202 is connected to the three-phase power supply lines of the motor 300. In response to receiving a braking signal from the emergency braking activation device 203, the safety controller 201 sends a first relay control signal to the relay module 202 to control the relay module 202 to short-circuit the three-phase power supply lines of the motor 300. Therefore, the motor 300 can be braked by short-circuiting the three-phase power supply lines.

[0036] This configuration allows for convenient and safe braking of the robotic exoskeleton by short-circuiting the three-phase power lines to brake the motor. For motors without brakes, it meets the mandatory requirement that exoskeleton rehabilitation devices must have safety features. For motors with brakes, additional safety measures are introduced, increasing the reliability of the exoskeleton while saving design and installation costs, reducing the difficulty of developing braking systems, and facilitating safe robotic exoskeletons for patients.

[0037] refer to Figure 5 In one embodiment, the relay module 202 may include a first relay 2021 and a second relay 2022, both of which can be electromagnetic relays. In one embodiment, the signal input terminal 2011 of the safety controller 201 is connected to the first relay 2021 and the second relay 2022 for synchronously sending a first relay control signal to the first relay 2021 and the second relay 2022.

[0038] The emergency braking activation device 203 may include a main controller 2031 and an emergency braking switch device 2032 disposed within the robot exoskeleton 100. In one embodiment, one or more operation buttons 107 of the emergency braking switch device 2032 (see...) Figure 1 and Figure 2 The device is exposed on the outer surface of the robot exoskeleton 100. The operation button 107 can be called an emergency stop button. When the user presses an operation button 107, it triggers the emergency brake switch 2032 to send a braking signal. The braking signal brakes the motor 300 by controlling the two relays mentioned above.

[0039] In one embodiment, the main controller 2031 is used to detect whether an error has occurred in the control program and, upon detecting an error, issues an emergency stop signal as a braking signal. The control program includes control programs for controlling various operations of the robot exoskeleton 100 and control programs for controlling various operations of the safety device 200. In one embodiment, the emergency brake switch 2032 is used to issue a stop signal as a braking signal upon detecting a pressing operation on it. The safety controller 201 continuously monitors the stop signal from the emergency brake switch 2032 and the emergency stop signal from the main controller 2031.

[0040] refer to Figure 6 The three-phase power supply lines of motor 300 include a first power supply line 301, a second power supply line 302, and a third power supply line 303. The three power supply lines are respectively connected to the normally closed port NC of the first relay 2021, the normally closed port NC of the second relay 2022, and the common port C of the first relay 2021 and the second relay 2022. Specifically, as... Figure 6 As shown, the first power line 301 is connected to the normally closed port NC of the first relay 2021, the second power line 302 is connected to the common port C of the first relay 2021 and the common port C of the second relay 2022, and the third power line 303 is connected to the normally closed port NC of the second relay 2022.

[0041] In one embodiment, the first relay control signal is a low-level signal. Based on this low-level signal, the normally closed port NC of the first relay 2021 and the normally closed port NC of the second relay 2022 are turned on. At this time, the normally closed port NC of the first relay 2021 is controlled to be electrically connected to the common port C of the first relay 2021, and the normally closed port NC of the second relay 2022 is controlled to be electrically connected to the common port C of the second relay 2022.

[0042] When the robot exoskeleton 100 experiences an unexpected power outage, the main controller 2031 detects a control program error, or the user presses the emergency stop button on the robot exoskeleton 100, the safety controller 201 will pull down the signal sent to the two relays, causing the three-phase power lines of the brushless DC motor to be directly electrically connected together.

[0043] In one embodiment, the safety controller 201 can be configured to synchronously send a second relay control signal to the first relay 2021 and the second relay 2022 during standard operation to prevent the first relay 2021 and the second relay 2022 from short-circuiting the three-phase power lines of the motor 300, allowing the motor 300 to continue rotating normally. Standard operation refers to operations performed during periods when the robot exoskeleton 100 does not require emergency braking, excluding situations such as unexpected power outages of the robot exoskeleton 100, the main controller 2031 detecting control program errors, or the user pressing the emergency stop button on the robot exoskeleton 100.

[0044] In one embodiment, the second relay control signal is a high-level signal. Based on this high-level signal, the normally open port NO of the first relay 2021 and the normally open port NO of the second relay 2021 are turned on. At this time, the normally open port NO of the first relay 2021 is controlled to be electrically connected to the common port C of the first relay 2021, and the normally open port NO of the second relay 2022 is controlled to be electrically connected to the common port C of the second relay 2022.

[0045] The two types of relays mentioned above operate on the same principle. Taking the first relay 2021 as an example, its working principle diagram can be found here. Figure 7 and Figure 8 The first relay 2021 includes an armature 211, a moving contact 212, a normally closed contact 213, a normally open contact 214, and a coil 215. In one embodiment, the first relay 2021 is a high-level triggered relay. Figure 7 As shown, when a low-level signal is input to the first relay 2021, the coil 215 does not attract the armature 211, and the armature 211 causes the moving contact 212 to contact the normally closed contact 213. (Reference) Figure 6 At this point, the first power line 301, the second power line 302, and the third power line 303 are directly electrically connected to each other, causing a short circuit and stopping the motor 300. (Reference) Figure 8 When a high-level signal is input to the first relay 2021, the coil 215 attracts the armature 211, which in turn drives the moving contact 212 to contact the normally open contact 214. (Reference) Figure 6 At this time, the first power line 301, the second power line 302 and the third power line 303 are not electrically connected to each other, thus avoiding short circuits and allowing the motor 300 to operate normally.

[0046] In one embodiment, the safety controller 201 is further configured to send a first relay control signal to a relay module 202, including a first relay 2021 and a second relay 2022, after a preset delay time upon receiving a braking signal. Setting the delay between receiving the braking signal and electrically connecting the three-phase power lines together can meet the safety timing requirements of the power system. The preset time can be user-defined.

[0047] In one embodiment, the coil of the first relay 2021 is electrically connected to the coil of the second relay 2022. The safety device 200 may also include a power supply 108. The power supply 108 may be disposed in the base 101 of the robot exoskeleton 100 and electrically connected to the coils of the first relay 2021 and the second relay 2022.

[0048] Figure 9 This is a flowchart illustrating an emergency stop method for a robotic exoskeleton according to one embodiment. The method can be implemented using a safety device. Figure 1 , Figure 2 The illustrated robotic exoskeleton features an emergency stop mechanism. This safety device includes a safety controller, a relay module, and an emergency braking activation device. Please refer to the above for detailed structural specifications. Figures 4 to 6 The description of the safety device 200 is provided below. In one embodiment, the method may include the following steps.

[0049] Step S901: The emergency braking activation device sends a braking signal to the safety controller.

[0050] Step S902: The safety controller responds to the braking signal by sending a first relay control signal to the relay module, controlling the relay module to short-circuit the three-phase power lines of the motor to brake the motor.

[0051] The relay module and emergency braking start device are electrically connected to the safety controller, and the relay module is electrically connected to the three-phase power supply line of the motor.

[0052] In one embodiment, the relay module may include a first relay and a second relay, and the safety controller may include a signal input terminal connected to the first relay and the second relay. In one embodiment, step S902 includes: synchronously sending a first relay control signal to the first relay and the second relay.

[0053] In one embodiment, both the first relay and the second relay include a normally closed port NC and a common port C. Three-phase power lines are respectively connected to the normally closed port NC of the first relay, the normally closed port NC of the second relay, and the common port C of the first and second relays.

[0054] In one embodiment, the control signal for the first relay is a low-level signal. When the first relay and the second relay receive the low-level signal, the normally closed port NC of the first relay and the normally closed port NC of the second relay are controlled to conduct to each other.

[0055] In one embodiment, the method may further include: during standard operation, synchronously sending a second relay control signal to a first relay and a second relay to control the first relay and the second relay not to short-circuit the three-phase power supply lines of the motor, so that the motor can operate normally.

[0056] In one embodiment, the control signal for the second relay is a high-level signal. When the first relay and the second relay receive the high-level signal, the normally open port NO of the first relay and the normally open port NO of the second relay are controlled to conduct to each other.

[0057] In one embodiment, the method may further include: in response to receiving a braking signal, the safety controller sends a first relay control signal to the relay module after a preset delay period.

[0058] In one embodiment, the emergency braking activation device may include a main controller and an emergency braking switch device disposed within the robotic exoskeleton. The emergency braking switch device includes a button exposed on the outer surface of the robotic exoskeleton.

[0059] In one embodiment, step S901 may include: the main controller detecting whether a control program error has occurred, and issuing a braking signal when the main controller detects a control program error; or, the emergency brake switch device detecting whether a pressing operation has occurred, and issuing a braking signal when a pressing operation is detected.

[0060] For other technical details, please refer to the foregoing. Figures 1 to 8 The relevant descriptions in the illustrated embodiments will not be repeated here.

[0061] Another aspect of this disclosure relates to a non-transitory computer-readable medium storing instructions that, when executed, cause one or more processors to perform an emergency stop method for a robotic exoskeleton. The method may include: in response to receiving a braking signal from an emergency braking activation device of a safety device, sending a first relay control signal to a relay module of the safety device to control the relay module to short-circuit the three-phase power lines of the exoskeleton's motors to brake the motors. The relay module and the emergency braking activation device are electrically connected to a safety controller, and the relay module is electrically connected to the three-phase power lines of the motors.

[0062] Computer-readable media may include volatile or non-volatile, magnetic, semiconductor, magnetic tape, optical, removable, non-removable, or other types of computer-readable media or computer-readable storage devices. For example, a computer-readable medium may be a storage device or memory module storing computer instructions, as disclosed. In some embodiments, a computer-readable medium may be a disk or flash drive storing computer instructions.

[0063] It should be understood that the disclosed apparatus and methods can also be implemented in other ways. The above-described apparatus embodiments are merely exemplary. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which includes one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in a block may not occur in the order shown in the figures. For example, two blocks shown sequentially may actually be executed substantially simultaneously, or sometimes in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, may be implemented by a dedicated hardware system or a combination of dedicated hardware and computer instructions that performs the specified function or action.

[0064] Furthermore, the functional modules in the embodiments of this disclosure can be integrated into an independent part, or each module can exist independently, or two or more modules can be integrated into an independent part. When these functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solutions in this disclosure, in essence or in part, that contribute to the prior art, can be implemented in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for instructing a computer device (which may be a personal computer, server, network device, etc.) to execute all or part of the steps of the methods described in the embodiments of this disclosure. The aforementioned storage medium includes: USB flash drive, portable hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, optical disk, and any medium capable of storing program code.

[0065] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the devices, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0066] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0067] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0068] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0069] In the embodiments provided in this disclosure, it should be understood that the disclosed apparatus (device) / terminal device and method can be implemented in other ways. For example, the above-described apparatus (device) / terminal device embodiments are merely exemplary. For example, the division of modules or units is only a logical functional division, and other division methods can be adopted in actual implementation. That is, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling shown or discussed can be direct coupling or communication connection, or indirect coupling or communication connection through some interfaces, devices or units, or it can be electrical, mechanical or other forms.

[0070] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0071] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0072] If the integrated module is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electrical carrier signals and telecommunication signals.

[0073] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A safety device electrically connected to a motor of a robotic exoskeleton for emergency stopping of the robotic exoskeleton, the safety device comprising: Safety controller; A relay module electrically connected to the three-phase power supply lines of the safety controller and the motor; An emergency braking start device electrically connected to the safety controller; The safety controller is used to send a first relay control signal to the relay module in response to receiving a braking signal from the emergency braking activation device. The first relay control signal is used to control the relay module to short-circuit the three-phase power lines of the motor, thereby braking the motor.

2. The safety device according to claim 1, characterized in that, The relay module includes a first relay and a second relay, and the safety controller includes a signal input terminal connected to the first relay and the second relay for synchronously sending the first relay control signal to the first relay and the second relay.

3. The safety device according to claim 2, characterized in that, The first relay and the second relay each include a normally closed port and a common port. The three-phase power lines are respectively connected to the normally closed port of the first relay, the normally closed port of the second relay, and the common port of the first relay and the second relay.

4. The safety device according to claim 3, characterized in that, The first relay control signal is a low-level signal. In response to the low-level signal, the normally closed port of the first relay and the normally closed port of the second relay are controlled to connect to each other.

5. The safety device according to claim 2, characterized in that, The safety controller is used to synchronously send a second relay control signal to the first relay and the second relay during standard operation. The second relay control signal controls the first relay and the second relay not to short-circuit the three-phase power lines of the motor, so that the motor can operate normally.

6. The safety device according to claim 5, characterized in that, The second relay control signal is a high-level signal. In response to this high-level signal, the normally open port of the first relay and the normally open port of the second relay are controlled to connect to each other.

7. The safety device according to claim 1, characterized in that, The safety controller is also configured to send the first relay control signal to the relay module after a preset delay time in response to receiving the braking signal.

8. The safety device according to claim 1, characterized in that, The emergency braking activation device includes: a main controller and an emergency braking switch device located inside the robot exoskeleton, the emergency braking switch device including a button exposed on the outer surface of the robot exoskeleton; The main controller is used to detect whether an error has occurred in the control program, and to issue the braking signal after detecting such an error. The emergency brake switch device is used to detect whether a pressing operation has occurred, and to issue the brake signal after detecting such a pressing operation.

9. A computer-implemented method for emergency stopping of a robotic exoskeleton, the robotic exoskeleton including motors, the method comprising: A safety device is provided that is electrically connected to the motor of the robot exoskeleton. The safety device includes a safety controller, a relay module electrically connected to the safety controller, and an emergency braking activation device. The relay module is electrically connected to the three-phase power supply line of the motor. The emergency braking activation device sends a braking signal to the safety controller; and In response to the braking signal, the safety controller sends a first relay control signal to the relay module to control the relay module to short-circuit the three-phase power lines of the motor to brake the motor.

10. A non-transitory computer-readable storage medium storing instructions that, when executed by at least one processor of a safety device electrically connected to a motor of a robotic exoskeleton and including a safety controller, a relay module, and an emergency braking activation device, cause the at least one processor to perform an emergency stop method for the robotic exoskeleton, the method comprising: In response to receiving a braking signal from the emergency braking activation device of the safety device, a first relay control signal is sent to the relay module of the safety device to control the relay module to short-circuit the three-phase power lines of the motor of the robot exoskeleton, thereby braking the motor; wherein the relay module and the emergency braking activation device are electrically connected to the safety controller, and the relay module is electrically connected to the three-phase power lines of the motor.

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