Output adjustable circuit and system of motor band-type brake and automatic guided vehicle
By using a dual-tube control system for the motor brake circuit and dynamic adjustment of the drive voltage and current, the problem of accidental motor brake activation is solved, improving reliability and reducing power consumption and heat generation, making it suitable for automated guided vehicles.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- KINCO ELECTRIC SHENZHEN
- Filing Date
- 2025-12-31
- Publication Date
- 2026-04-17
AI Technical Summary
The existing motor brake release circuit is prone to false activation when the drive transistor fails due to short circuit, resulting in insufficient reliability.
A dual-transistor control circuit is adopted. By setting the second driving transistor and adjusting the duty cycle of the first driving transistor, an adjustable output circuit for the motor brake is constructed. This ensures that the motor brake and the circuit cannot form a current loop when a single driving transistor fails, and power consumption is reduced by dynamically adjusting the driving voltage and current.
The reliability of the motor brake circuit is improved, preventing accidental activation, and the heat generation of the brake coil is reduced while power consumption is decreased, thus meeting energy-saving requirements.
Smart Images
Figure CN121887079A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of motor brake control technology, specifically to an adjustable output circuit and system for a motor brake, as well as an automated guided vehicle. Background Technology
[0002] Currently, in order to achieve safe and reliable release of the motor brake (i.e., the brake) under specific conditions (e.g., power outage, malfunction, maintenance, etc.), the prior art provides a dedicated release circuit.
[0003] However, when the drive transistor (i.e., MOSFET) inside the aforementioned release brake circuit fails due to short circuit, the drive transistor will remain open to form a path (i.e., a current loop) between the release brake circuit and the motor brake, thereby causing the motor brake to malfunction.
[0004] Therefore, the existing brake release circuit still has insufficient reliability. Summary of the Invention
[0005] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide an adjustable output circuit, system and automated guided vehicle for motor brakes. The circuit, by setting a second drive transistor in the adjustable output circuit, ensures that the motor brake and the circuit cannot form a current loop in the event of failure of a single drive transistor, thereby avoiding the accidental opening of the motor brake and improving the reliability of the motor brake circuit.
[0006] According to one aspect of the present invention, an adjustable output circuit for a motor brake is provided, characterized in that the circuit includes: a power input terminal, an on / off control module connected to the power input terminal, and an adjustment module, wherein one end of the motor brake coil is connected to the on / off control module, and the other end of the motor brake coil is connected to the adjustment module; The adjustment module is used to receive an amplitude adjustment signal and adjust the conduction state of the first driving transistor based on the duty cycle corresponding to the amplitude adjustment signal, so as to provide a target driving voltage to the motor brake coil. The on / off control module is used to receive an on / off control signal, and control the second driving transistor to turn on based on the on / off control signal to form a circuit between the power input terminal and the motor brake coil; or, control the second driving transistor to turn off based on the on / off control signal to form an open circuit between the power input terminal and the motor brake coil.
[0007] In one possible implementation, the circuit further includes an overcurrent protection module, which includes a current sampling submodule and a signal amplification submodule. The current sampling submodule is connected to one end of the first driving transistor and the signal amplification submodule, respectively. The current sampling submodule is used to convert the current input to the overcurrent protection module through the first driving transistor into an overcurrent detection voltage; The signal amplification submodule is used to amplify the overcurrent detection voltage and input the amplified overcurrent detection voltage into the control unit; wherein, when the overcurrent detection voltage is greater than the preset overcurrent voltage of the control unit, an overcurrent signal is generated, and the overcurrent signal is used to adjust the amplitude adjustment signal and the on / off control signal.
[0008] In one possible implementation, the adjustment module further includes a first resistor, a first capacitor, and a second resistor; The first resistor is connected to the control terminal and the first terminal of the first driving transistor, the first capacitor is connected to the control terminal and the first terminal of the first driving transistor, and the second resistor is connected to the control terminal of the first driving transistor. The first resistor is used to slow down the turn-on or turn-off speed of the first driving transistor; the first capacitor and the second resistor are used to eliminate the voltage difference between the control terminal and the first terminal of the first driving transistor.
[0009] In one possible implementation, the on / off control module further includes a control submodule and a brake voltage input submodule; The control submodule is used to receive the on / off control signal and control the second driving transistor to turn on or off based on the on / off control signal. The brake voltage input submodule is used to input a driving voltage to the control terminal of the second driving transistor.
[0010] In one possible implementation, the control submodule includes a third driving transistor, a third resistor, and a fourth resistor. The control terminal of the third driving transistor is connected to the third resistor and the fourth resistor, respectively. The first terminal of the third driving transistor is connected to the control terminal of the second driving transistor, and the second terminal of the third driving transistor is grounded. The third resistor is used to provide drive current to the control terminal of the third driving transistor; The fourth resistor is used to provide the control terminal and the first terminal of the third driving transistor to be at the same potential. The third driving transistor is used to receive the on / off control signal and provide the second driving transistor with an on or off signal corresponding to the on / off control signal.
[0011] In one possible implementation, the brake voltage input submodule includes a Zener diode, a second capacitor, a fifth resistor, and a second driving transistor; The Zener diode is used to input a driving voltage to the control terminal of the second driving transistor; the second capacitor and the fifth resistor are used to provide a pull-down signal to the control terminal of the second driving transistor.
[0012] In one possible implementation, the first driving transistor is an N-type driving transistor, and the second driving transistor is a P-type driving transistor.
[0013] In one possible implementation, the circuit further includes a brake freewheeling module, which includes a first diode, a second diode, and an electrolytic capacitor; one end of the electrolytic capacitor is connected to the second diode, and the other end is grounded; the second diode is connected to one end of the first diode, and the other end of the first diode is grounded; The brake freewheeling module is used to, when the motor brake is turned off, freewheel the energy stored in the motor brake coil back to the electrolytic capacitor through the first diode and the second diode, thereby turning off the motor brake.
[0014] According to another aspect of the present invention, an output adjustable system for a motor brake is provided, the system comprising the output adjustable circuit for the motor brake described in the first aspect and a control unit. The control unit is used to provide the amplitude adjustment signal and the on / off control signal to the output adjustable circuit of the motor brake.
[0015] According to another aspect of the invention, an automated guided vehicle is provided, which includes the output adjustable system of the motor brake described in the second aspect.
[0016] Compared to the single-transistor control of the release brake circuit in the prior art, the adjustable output circuit, system, and automated guided vehicle for the motor brake provided in this application embodiment, on the one hand, constitute a dual-transistor control circuit for the motor brake by setting the second driving transistor in the adjustable output circuit. This prevents the motor brake and the circuit from forming a current loop in the event of failure of a single driving transistor, thereby avoiding accidental release of the motor brake and improving the reliability of the motor brake circuit. On the other hand, by setting the duty cycle of the first driving transistor inside the circuit, the first driving transistor can output a specific driving voltage and driving current to achieve dynamic adjustment of the target driving voltage provided to the motor brake coil. This effectively reduces the power consumption of the motor brake and reduces the heat generation of the brake coil, thus meeting energy-saving requirements. Attached Figure Description
[0017] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1This is one of the schematic diagrams showing the distribution of the adjustable output circuit 10 for the motor brake provided in this application embodiment; Figure 2 This is the second schematic diagram of the distribution of the adjustable output circuit 10 of the motor brake provided in this application embodiment. Detailed Implementation
[0018] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the accompanying drawings.
[0019] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. The present application will now be described in detail with reference to the accompanying drawings and embodiments. Furthermore, the term "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. The terms "first" and "second," etc., in the specification and claims of the embodiments of this application are used to distinguish different objects, not to describe a specific order of objects.
[0020] Existing brake release circuits typically rely on the on / off state of a single drive transistor to release the motor brake. However, when the single drive transistor inside the brake release circuit fails due to a short circuit, it remains normally open, creating a current loop between the brake release circuit and the motor brake, leading to erroneous release of the motor brake.
[0021] Based on this, this application provides an adjustable output circuit for a motor brake. This adjustable output circuit provides an adjustable output voltage and current release scheme for the motor brake device by adjusting the duty cycle of the first driving transistor. Secondly, by controlling the on / off state of the second driving transistor inside the circuit, the release scheme has fast turn-off characteristics.
[0022] In one embodiment of this application, an adjustable output circuit for a motor brake is provided.
[0023] In one possible implementation, Figure 1 This is one of the schematic diagrams showing the distribution of the adjustable output circuit 10 for the motor brake provided in this application embodiment, such as... Figure 1 As shown, the adjustable output circuit 10 of the motor brake includes a power input terminal 11, an on / off control module 12 connected to the power input terminal 11, and an adjustment module 13; wherein, one end of the motor brake coil (i.e., Figure 1The BR+ terminal of the motor brake coil is connected to the on / off control module 12, and the other end of the motor brake coil (i.e., Figure 1 The BR-end in the middle is connected to the adjustment module 13.
[0024] For example, the adjustment module 13 is used to receive the amplitude adjustment signal and adjust the conduction state of the first driving transistor 131 based on the duty cycle corresponding to the amplitude adjustment signal, so as to provide the target driving voltage to the motor brake coil.
[0025] The amplitude adjustment signal can be corresponding to: Figure 1 The LOCK_PWM signal is shown; based on this, the amplitude adjustment signal can characterize the PWM duty cycle corresponding to the target drive voltage / target drive current of the motor brake.
[0026] Specifically, the first driving transistor 131 can adjust the duty cycle D according to the input voltage amplitude based on the received amplitude adjustment signal by PWM signal chopping (i.e., using a PWM square wave signal with a fixed frequency but adjustable width to periodically cut off a continuous DC voltage or current to obtain a series of pulses); for example, the first driving transistor 131 can be an N-type driving transistor.
[0027] In one example, the output voltage V of the motor brake BR The relationship between V and the duty cycle D can be expressed as: BR =VCC*D, where VCC is the input voltage at the power input terminal.
[0028] It should be noted that when the adjustment module 13 provides the target drive voltage to the motor brake coil (i.e., the target drive voltage is obtained between the BR+ terminal and the BR- terminal), the motor brake coil is energized to generate a magnetic field, which attracts the brake pads to release the brake; when the target drive voltage is disconnected, the magnetic field disappears, and the brake pads are pressed together under the action of the spring force, thereby achieving braking.
[0029] For example, when the target drive current of the input motor brake coil is too large, the output drive current can be reduced by decreasing the duty cycle of the first drive transistor 131, thereby achieving controllability of the motor brake drive current.
[0030] In this embodiment, the PWM duty cycle can be set according to actual needs to achieve the output of specific drive voltage and current (i.e., the voltage brake output voltage / current is controllable), thereby reducing the power consumption of the motor brake and reducing the heat generation of the motor brake coil to meet energy-saving requirements.
[0031] For example, the on / off control module 12 is used to receive an on / off control signal, and control the second driving transistor 121 to turn on based on the on / off control signal, forming a circuit between the power input terminal 11 and the motor brake coil; or, control the second driving transistor 121 to turn off based on the on / off control signal, forming an open circuit between the power input terminal 11 and the motor brake coil; wherein, the on / off control signal can correspond to... Figure 1 The LOCK_EN shown.
[0032] Specifically, the on / off control signal can be a high / low level signal (i.e., the second driving transistor 121 is triggered by a level signal). Correspondingly, when the second driving transistor 121 is a P-type driving transistor, LOCK_EN outputs a high level signal when the motor brake needs to be opened, and the second driving transistor 121 is turned on; when the motor brake needs to be turned off, LOCK_EN outputs a low level signal, and the second driving transistor 121 is turned off.
[0033] In one possible implementation, the adjustable output circuit 10 of the motor brake further includes an overcurrent protection module 14, which includes a current sampling submodule 141 and a signal amplification submodule 142, as shown in the reference. Figure 1 The current sampling submodule 141 is connected to one end of the first driving transistor 131 and the signal amplification submodule 142, respectively.
[0034] For example, the current sampling submodule 141 may include, as follows: Figure 1 The resistor RS1 shown is used to convert the current input through the first drive transistor 131 into an overcurrent detection voltage; the resistance value of the resistor RS1 is, for example, 100mΩ.
[0035] For example, the signal amplification submodule 142 may include, as follows: Figure 1 The operational amplifier U1A shown is used to amplify the resistor overcurrent detection voltage converted by RS1 and input the amplified overcurrent detection voltage into the control unit.
[0036] Based on this, in this embodiment, the current of the motor brake can be sampled by resistor RS1, and after signal amplification and processing by operational amplifier U1A, it is transmitted to the control unit to realize the monitoring of the motor brake current.
[0037] For example, when a short circuit occurs in the motor brake coil, the current in the coil will increase sharply. At this time, the increased current can be converted into an overcurrent detection voltage signal through resistor RS1, and then amplified by operational amplifier U1A to transmit the amplified overcurrent detection voltage signal I_BR to the control unit (e.g., MCU).
[0038] Specifically, the amplified overcurrent detection voltage signal I_BR can be calculated using the following formula: VO = (1 + R7 / R8) * 0.1 * I; where VO corresponds to the amplified overcurrent detection voltage (i.e., the output voltage of operational amplifier U1A); I corresponds to the motor brake coil current; R7 and R8 correspond to... Figure 1 The resistors R7 and R8 are shown connected to the operational amplifier U1A respectively (the resistance values of R7 and R8 are, for example, 5.1K).
[0039] Correspondingly, when the output overcurrent detection voltage signal I_BR is greater than the preset overcurrent voltage inside the MCU, it is determined that the external motor brake is in a short circuit state. At this time, the MCU generates an overcurrent signal, which is used to adjust the amplitude regulation signal and the on / off control signal. For example, the output states of the on / off control signal LOCK_EN and the amplitude regulation signal LOCK_PWM can be lowered to turn off the first drive transistor 131 and the second drive transistor 121, thereby realizing short circuit protection for the circuit.
[0040] In one possible implementation, refer to Figure 1 The adjustment module 13 also includes a first resistor R6, a first capacitor C2, and a second resistor R5; wherein, the first resistor R6 is connected to the control terminal and the first terminal of the first driving transistor 131, the first capacitor C2 is connected to the control terminal and the first terminal of the first driving transistor 131, and the second resistor R5 is connected to the control terminal of the first driving transistor 131.
[0041] For example, the first resistor R6 is used to slow down the turn-on or turn-off speed of the first driving transistor 131 in order to eliminate the ringing of the driving signal of the first driving transistor 131 during the switching process; wherein, the resistance value of the first resistor R6 is, for example, 10K.
[0042] For example, the first capacitor C2 and the second resistor R5 are used to eliminate the voltage difference between the control terminal (i.e., the gate terminal) and the first terminal (e.g., the source terminal) of the first driving transistor 131 when the first driving transistor 131 is stationary, thereby avoiding the first driving transistor 131 from being mis-turned on; wherein, the capacitance value of the first capacitor C2 is, for example, 1nF, and the resistance value of the second resistor R5 is, for example, 100R.
[0043] In one possible implementation, refer to Figure 1 The on / off control module 12 also includes a control submodule 122 and a brake voltage input submodule 123; wherein, the second drive transistor 121 is included in the brake voltage input submodule 123.
[0044] For example, the control submodule 122 is used to receive the on / off control signal and control the second driving transistor 121 to be turned on or off based on the on / off control signal.
[0045] Specifically, the control submodule 122 includes a third driving transistor Q2, a third resistor R3, and a fourth resistor R4. The third resistor R3 and the fourth resistor R4 are respectively connected to the control terminal (i.e., terminal 1) of the third driving transistor Q2. The first terminal (i.e., terminal 3) of the third driving transistor Q2 is connected to the brake voltage input submodule 123, and the second terminal (i.e., terminal 2) of the third driving transistor Q2 is grounded. The resistance value of the third resistor R3 is, for example, 1K, and the resistance value of the fourth resistor R4 is, for example, 2K.
[0046] Correspondingly, the third resistor R3 is used to provide drive current (i.e., base operating current) to the control terminal of the third driving transistor Q2; the fourth resistor R4 is used to provide equal potential to the control terminal and the first terminal of the third driving transistor Q2 (i.e., to provide equal potential to its base and emitter) in the absence of a control signal for the third driving transistor Q2, so as to prevent the third driving transistor Q2 from being mis-turned on; the third driving transistor Q2 is used to receive the on and off signals of the on / off control signal LOCK_EN, so as to provide corresponding switching signals to the second driving transistor 121.
[0047] For example, the brake voltage input submodule 123 is used to input a drive voltage to the control terminal of the second drive transistor 121.
[0048] Specifically, the brake voltage input submodule 123 includes a Zener diode DZ1, a second capacitor C1, a fifth resistor R1, and a second driving transistor 121; wherein, the Zener diode DZ1 is connected to the power input terminal 11 and the control terminal of the second driving transistor 121 respectively, the second capacitor C1 is connected to the control terminal and the first terminal of the second driving transistor 121 respectively, and the fifth resistor R1 is connected to the control terminal and the first terminal of the second driving transistor 121 respectively; wherein, the capacitance value of the second capacitor C1 is, for example, 1nF, and the resistance value of the fifth resistor R1 is, for example, 30K.
[0049] Correspondingly, the Zener diode DZ1 can be a 12V Zener diode to input the driving voltage to the control terminal of the second driving transistor 121 (i.e., to provide a reliable gate driving power supply); the second capacitor C1 and the fifth resistor R1 are pull-down capacitors and resistors, respectively, to provide a pull-down signal to the control terminal of the second driving transistor 121, thereby preventing the second driving transistor 121 from being mis-turned on; the second driving transistor 121 can be a P-type driving transistor to be turned on under the control of the third driving transistor Q2, thereby inputting the VCC power supply of the power input terminal 11 to the motor brake coil terminal.
[0050] In another embodiment of this application, additional distributed modules of the motor brake output adjustable circuit are also provided.
[0051] In one possible implementation, Figure 2 This is a second schematic diagram of the distribution of the adjustable output circuit 10 of the motor brake provided in this application embodiment, as shown below. Figure 2 As shown, the adjustable output circuit 10 of the motor brake also includes a brake freewheeling module 15; wherein, the brake freewheeling module 15 includes a first diode D1, a second diode D2 and an electrolytic capacitor EC1 (the value of which is, for example, 100uF / 35V).
[0052] Specifically, one end of the electrolytic capacitor EC1 is connected to the second diode D2, and the other end is grounded; the second diode D2 is connected to one end of the first diode D1, and the other end of the first diode D1 is grounded.
[0053] For example, the brake freewheeling module 15 is used to freewheel the energy stored in the motor brake coil back to the electrolytic capacitor EC1 through the first diode D1 and the second diode D2 when the motor brake is turned off, so as to realize the rapid turn-off of the motor brake, while avoiding the energy of the motor brake coil being directly applied to the first driving transistor 131, so as to avoid damage to the device.
[0054] It should be noted that, since the motor brake coil is an inductive load, after the motor brake is turned off, a current freewheeling path needs to be provided due to the lag of the inductive current. Therefore, in this embodiment, through the first diode D1 and the second diode D2 in the brake freewheeling module 15, a voltage with the lower positive and the upper negative is induced by the motor brake coil at the moment the motor brake is turned off. This voltage then flows through the path of the second diode D2-electrolytic capacitor EC1-GND-first diode D1, allowing the current to continue to the electrolytic capacitor EC1 terminal. This enables the coil current to decrease rapidly, achieving the purpose of rapid motor brake turn-off.
[0055] In another embodiment of this application, an adjustable output system for a motor brake is also provided.
[0056] In one possible implementation, the adjustable output system of the motor brake may include the aforementioned adjustable output circuit 10 of the motor brake and a control unit (e.g., MCU).
[0057] For example, the control unit is used to provide an amplitude adjustment signal LOCK_PWM and an on / off control signal LOCK_EN to the output adjustable circuit 10 of the motor brake.
[0058] Based on this, compared with the single-transistor controlled release brake circuit in the prior art, the adjustable output system of the motor brake provided in this application embodiment, on the one hand, by setting the second driving transistor 121 in the adjustable output circuit 10, constitutes a dual-transistor control circuit for the motor brake, so that the motor brake and the circuit cannot form a current loop in the event of failure of a single driving transistor, thereby avoiding the false opening of the motor brake action and improving the reliability of the motor brake circuit 10; on the other hand, by setting the duty cycle of the first driving transistor 131 inside the circuit, the first driving transistor 131 can output a specific driving voltage and driving current, so as to realize the dynamic adjustment of the target driving voltage provided to the motor brake coil, thereby effectively reducing the power consumption of the motor brake and reducing the heat generation problem of the brake coil, so as to meet the energy saving requirements.
[0059] In another embodiment of this application, an automated guided vehicle is also provided.
[0060] In one possible implementation, the automated guided vehicle (i.e., the AGV) is equipped with the adjustable output system of the motor brake described in the above embodiment.
[0061] Compared to existing single-transistor brake release circuits that connect the external brake release power supply to the BR+ and BR- terminals of the motor brake coil, which may result in abnormal opening due to the power input VCC sharing a common ground with the external power supply, or current backflow damaging the machine due to a voltage difference between the power input VCC and the external power supply, this embodiment avoids abnormal opening and machine damage by adding a second driving transistor 121 to the adjustable output circuit 10 of the motor brake. This is applied to the AGV trolley so that when the AGV trolley is powered off, it can be moved by externally forced brake release, thereby meeting the user's external brake release requirements.
[0062] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of disclosure in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the foregoing disclosed concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.
Claims
1. An adjustable output circuit for a motor brake, characterized in that, The circuit includes: a power input terminal, an on / off control module connected to the power input terminal, and an adjustment module. One end of the motor brake coil is connected to the on / off control module, and the other end of the motor brake coil is connected to the adjustment module. The adjustment module is used to receive an amplitude adjustment signal and adjust the conduction state of the first driving transistor based on the duty cycle corresponding to the amplitude adjustment signal, so as to provide a target driving voltage to the motor brake coil. The on / off control module is used to receive an on / off control signal, and control the second driving transistor to turn on based on the on / off control signal to form a circuit between the power input terminal and the motor brake coil; or, control the second driving transistor to turn off based on the on / off control signal to form an open circuit between the power input terminal and the motor brake coil.
2. The adjustable output circuit for the motor brake according to claim 1, characterized in that, The circuit also includes an overcurrent protection module, which includes a current sampling submodule and a signal amplification submodule. The current sampling submodule is connected to one end of the first driving transistor and the signal amplification submodule, respectively. The current sampling submodule is used to convert the current input to the overcurrent protection module through the first driving transistor into an overcurrent detection voltage; The signal amplification submodule is used to amplify the overcurrent detection voltage and input the amplified overcurrent detection voltage into the control unit; wherein, when the overcurrent detection voltage is greater than the preset overcurrent voltage of the control unit, an overcurrent signal is generated, and the overcurrent signal is used to adjust the amplitude adjustment signal and the on / off control signal.
3. The adjustable output circuit for the motor brake according to claim 1, characterized in that, The adjustment module also includes a first resistor, a first capacitor, and a second resistor; The first resistor is connected to the control terminal and the first terminal of the first driving transistor, the first capacitor is connected to the control terminal and the first terminal of the first driving transistor, and the second resistor is connected to the control terminal of the first driving transistor. The first resistor is used to slow down the turn-on or turn-off speed of the first driving transistor; the first capacitor and the second resistor are used to eliminate the voltage difference between the control terminal and the first terminal of the first driving transistor.
4. The adjustable output circuit for the motor brake according to claim 1, characterized in that, The on / off control module also includes a control submodule and a brake voltage input submodule; The control submodule is used to receive the on / off control signal and control the second driving transistor to turn on or off based on the on / off control signal. The brake voltage input submodule is used to input a driving voltage to the control terminal of the second driving transistor.
5. The adjustable output circuit for the motor brake according to claim 4, characterized in that, The control submodule includes a third driving transistor, a third resistor, and a fourth resistor. The control terminal of the third driving transistor is connected to the third resistor and the fourth resistor, respectively. The first terminal of the third driving transistor is connected to the control terminal of the second driving transistor, and the second terminal of the third driving transistor is grounded. The third resistor is used to provide drive current to the control terminal of the third driving transistor; The fourth resistor is used to provide the control terminal and the first terminal of the third driving transistor to be at the same potential. The third driving transistor is used to receive the on / off control signal and provide the second driving transistor with an on or off signal corresponding to the on / off control signal.
6. The adjustable output circuit for the motor brake according to claim 4, characterized in that, The brake voltage input submodule includes a Zener diode, a second capacitor, a fifth resistor, and a second driving transistor; The Zener diode is used to input a driving voltage to the control terminal of the second driving transistor; the second capacitor and the fifth resistor are used to provide a pull-down signal to the control terminal of the second driving transistor.
7. The adjustable output circuit for the motor brake according to claim 1, characterized in that, The first driving transistor is an N-type driving transistor, and the second driving transistor is a P-type driving transistor.
8. The adjustable output circuit for the motor brake according to claim 1, characterized in that, The circuit also includes a brake freewheeling module, which includes a first diode, a second diode, and an electrolytic capacitor; one end of the electrolytic capacitor is connected to the second diode, and the other end is grounded; the second diode is connected to one end of the first diode, and the other end of the first diode is grounded. The brake freewheeling module is used to, when the motor brake is turned off, freewheel the energy stored in the motor brake coil back to the electrolytic capacitor through the first diode and the second diode, thereby turning off the motor brake.
9. An adjustable output system for a motor brake, characterized in that, The system includes the adjustable output circuit of the motor brake as described in any one of claims 1-8 and a control unit. The control unit is used to provide the amplitude adjustment signal and the on / off control signal to the output adjustable circuit of the motor brake.
10. An automated guided vehicle, characterized in that, The automated guided vehicle includes the adjustable output system of the motor brake as described in claim 9.