Band-type brake control circuit, band-type brake device circuit and servo driver

Abstract

The utility model provides a band-type brake control circuit, a band-type brake device circuit and a servo driver. The band-type brake control circuit comprises a plurality of switching circuits and a first detection circuit. The plurality of switching circuits are connected between the band-type brake power supply and the band-type brake circuit, are coupled with the plurality of control signals, and are configured to enable the band-type brake power supply to supply power to the band-type brake circuit based on the plurality of control signals; the first detection circuit is coupled to the output ends of the multiple switching circuits and is configured to determine the first circuit state of the band-type brake circuit based on the voltage in the band-type brake circuit and determine the first circuit state of the at least one switching circuit based on the at least one control signal, and the first circuit states comprise the open circuit state or the short circuit state. The band-type brake control circuit has the technical characteristics of high band-type brake control safety and good circuit abnormal state detection effect.

Description

Technical Field

[0001] This disclosure relates to the field of brake control technology, and in particular to a brake control circuit, a brake actuator circuit, and a servo driver. Background Technology

[0002] Motors, as devices that convert electrical energy into mechanical energy, are widely used in industry, transportation, and home appliances. To ensure the safety and stability of motors during operation and when stopped, appropriate brake devices are usually required. The function of the brake device is to limit the rotation of the motor shaft by applying braking force under specific conditions, thereby preventing accidental movement or slippage. Therefore, the safety during motor braking is a crucial concern. Utility Model Content

[0003] This disclosure provides a brake control circuit, a brake actuator circuit, and a servo driver to improve the safety of motor braking.

[0004] In a first aspect, a brake control circuit is provided, comprising: a plurality of switching circuits and a first detection circuit; the plurality of switching circuits are connected between a brake power supply and a brake circuit, and coupled to a plurality of control signals, and configured to cause the brake power supply to supply power to the brake circuit based on the plurality of control signals; the first detection circuit is coupled to the output terminals of the plurality of switching circuits, and configured to determine a first circuit state of the brake circuit based on the voltage in the brake circuit, and to determine a first circuit state of at least one switching circuit based on at least one control signal, wherein the first circuit state includes: an open circuit state or a short circuit state.

[0005] In one implementation, the switching circuit includes: a first optocoupler, a first switching transistor, and a first driving circuit; the first terminal of the first optocoupler is coupled to a control signal, the second terminal is coupled to a first power supply, the third terminal is coupled to a brake power supply, and the fourth terminal is coupled to the first terminal of the first driving circuit; the second terminal of the first driving circuit is coupled to the brake power supply, the third terminal is coupled to the gate of the first switching transistor through a first resistor, the fourth terminal is coupled to the gate of the first switching transistor through a second resistor, and the fourth terminal is grounded; the drain of the first switching transistor is coupled to the brake circuit, wherein multiple switching circuits are connected through the first switching transistor, and the source of the first switching transistor in the last stage of the switching circuit is grounded.

[0006] In one implementation, the first driving circuit includes: a first transistor and a second transistor; the collector of the first transistor is configured as the second terminal of the first driving circuit, the emitter is coupled to the emitter of the second transistor and configured as the third terminal of the first driving circuit, the base is coupled to the base of the second transistor and configured as the first terminal of the first driving circuit; and the collector of the second transistor is configured as the fourth terminal of the first driving circuit.

[0007] In one implementation, the switching circuit further includes: a first diode and a first capacitor; the first diode is connected between the brake power supply and the third terminal of the first optocoupler; the first capacitor is connected between the third terminal of the first optocoupler and the fourth terminal of the first drive circuit.

[0008] In one implementation, the first detection circuit includes: a second optocoupler, a third resistor, and a fourth resistor; the first end of the second optocoupler is coupled to the output end of the switching circuit through the third resistor, the second end is grounded, the third end serves as the first detection output end, and the fourth end is grounded; the fourth resistor is connected between the first end and the second end of the second optocoupler.

[0009] In one implementation, it further includes: a second detection circuit; the second detection circuit is configured to couple to the brake circuit and the brake power supply, and determines a second circuit state of the brake circuit based on the voltage in the brake circuit, wherein the second circuit state includes: an undervoltage state or an overvoltage state.

[0010] In one implementation, the second detection circuit includes: a third optocoupler, a first parallel voltage regulator, a fifth resistor, a sixth resistor, a seventh resistor, and an eighth resistor; the anode of the first parallel voltage regulator is coupled to the brake circuit and the brake power supply through the fifth and sixth resistors connected in series, the first reference terminal is connected between the fifth and sixth resistors, and the cathode of the first parallel voltage regulator is coupled to the first terminal of the third optocoupler; the first terminal of the third optocoupler is coupled to the second terminal through the seventh resistor, the second terminal is coupled to the brake power supply through the eighth resistor, the third terminal serves as the second detection output terminal, and the fourth terminal is grounded.

[0011] In one implementation, the second detection circuit includes: a second parallel voltage regulator, a ninth resistor, and a tenth resistor; the anode of the second parallel voltage regulator is coupled to the brake power supply through the series-connected ninth and tenth resistors, the second reference terminal is connected between the ninth and tenth resistors, the cathode of the second parallel voltage regulator is connected between the fifth and sixth resistors, and the anode of the second parallel voltage regulator is grounded.

[0012] In a second aspect, a brake circuit is provided, comprising: a brake coil configured to be coupled to the brake of a motor; a freewheeling diode configured to have its anode coupled to the negative terminal of the brake coil and its cathode coupled to the positive terminal of the brake coil and a brake power supply; and a brake control circuit provided in the first aspect configured to brake the motor via the brake coil under the control of multiple control signals.

[0013] Thirdly, a controller is provided, including the brake circuit of the second aspect.

[0014] This application achieves reliable control of the brake release and braking of the brake circuit through a multi-stage switching circuit, and the first detection circuit can detect abnormal circuit states such as interruption or short circuit in the multi-stage switching circuit and the brake circuit, thereby improving the safety factor of the overall circuit and thus improving the safety of motor braking. Attached Figure Description

[0015] The accompanying drawings used in the description of the embodiments of this disclosure are briefly introduced below:

[0016] Figure 1 The diagram shows a schematic of the structure of a brake control circuit provided in some embodiments of this application;

[0017] Figure 2 This paper shows a schematic diagram of another brake control circuit provided in some embodiments of the present application;

[0018] Figure 3 A schematic diagram of another brake control circuit provided in some embodiments of this application is shown;

[0019] Figure 4 This paper shows a schematic diagram of the structure of another brake control circuit provided in some embodiments of this application;

[0020] Figure 5 A schematic diagram of the structure of the first driving optocoupler provided in some embodiments of this application is shown. Detailed Implementation

[0021] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the specific implementation methods of this disclosure will be described below with reference to the accompanying drawings. The accompanying drawings described below are merely some embodiments of this disclosure. For those skilled in the art, other drawings or embodiments can be obtained based on these drawings or embodiments without creative effort. Adjustments and improvements made without departing from the concept of this disclosure are all within the protection scope of this disclosure.

[0022] To keep the drawings simple, each figure only schematically shows the parts relevant to the embodiment, and they do not represent the actual structure of the product. In addition, for the sake of simplicity and ease of understanding, only some structures or parts are schematically shown, and there may be more or fewer similar structures or parts in reality.

[0023] With the widespread application of electric motors and the continuous improvement of engineering safety management systems, the importance attached to the safety of motor braking is increasing daily. Currently, motor brake circuits suffer from complex circuit structures and a lack of real-time detection of abnormal states in the brake control circuit, resulting in a low overall circuit and brake scheme safety factor and susceptibility to safety risks due to component failures. This application addresses these issues by setting up multiple switching circuits. When all of these switching circuits are conducting, the motor brake is released, improving the reliability of motor braking through redundancy. Furthermore, a first detection circuit monitors the circuit status of the multiple switching circuits and the brake circuit, preventing situations where the motor cannot be braked due to component failure, further enhancing motor braking safety and helping the motor controller to quickly shut off and brake in abnormal situations. The following description is in conjunction with the accompanying drawings:

[0024] Please refer to Figure 1 This document illustrates a schematic diagram of a brake control circuit provided in some embodiments of this application. The brake control circuit 100 includes at least: a plurality of switching circuits 110 and a first detection circuit 120; the plurality of switching circuits 110 are connected between a brake power supply 10 and a brake circuit 20, and coupled to a plurality of control signals Sc, and are configured to supply power from the brake power supply 10 to the brake circuit 20 based on the plurality of control signals Sc; the first detection circuit 120 is coupled to the output terminals of the plurality of switching circuits 110, and is configured to determine a first circuit state of the brake circuit 20 based on the voltage in the brake circuit 20, and to determine a first circuit state of at least one switching circuit 110 based on at least one control signal Sc, wherein the first circuit state includes: an open circuit state or a short circuit state.

[0025] In the above-described brake control circuit 100, the motor is in a braked state when the brake circuit 20 is not energized. At this time, multiple switching circuits 110 are not conducting under the control of multiple control signals Sc. Therefore, the current in the brake circuit 20 cannot form an effective current loop, and no path for current to pass through is formed. When multiple switching circuits 110 are turned on under the control of multiple control signals Sc, the current in the brake circuit 20 can form a current loop from the brake power supply 10 to the ground terminal, thereby releasing the brake and allowing the motor to rotate. Therefore, the brake control circuit 100 of this application requires all switching circuits 110 to be turned on before releasing the brake; conversely, when controlling the brake, any one switching circuit 110 can be turned off to achieve brake control. This serial brake control method, through multi-path redundancy, allows the brake to enter the braking state when any one switching circuit is turned off, greatly improving the circuit safety factor in situations with high safety requirements. In the control of brake release, multiple control signals Sc can simultaneously control the corresponding switching circuits 110 to conduct, or the multiple control signals Sc can have different conduction periods, thus achieving different conduction sequences among the multiple switching circuits 110. For example, switching circuits 110 farther away from the brake circuit 20 can be turned on one by one to the switching circuits 110 directly connected to the brake circuit 20, or vice versa; no specific limitation is made here. There can be multiple switching circuits 110, such as 2, 3, etc., depending on the specific safety requirements of the brake circuit application. Since the switching states of multiple switching circuits 110 are closely related to the motor's brake-holding and brake-releasing actions, if there is a situation in the circuit where the switching circuit cannot be turned off due to component damage, it is easy to cause the problem of ineffective brake-holding. The first detection circuit 120 can determine the circuit state of the switching circuit 110 corresponding to the control signal Sc through multiple control signals Sc. For example, multiple switching circuits include a first switching circuit and a second switching circuit, and multiple control signals include a first control signal and a second control signal. When the brake is released, the first and second control signals are both low-level signals, causing the corresponding first and second switching circuits to conduct, and the motor enters the released state. At this time, the voltage between the first switching circuit and the brake circuit 20 is close to 0V, and the first detection circuit 120 does not output a first detection signal. When detecting the first switching circuit, the main control system can use the first control signal to present a high-level signal with a very low duty cycle (e.g., a 20µs high-level signal within a 1s cycle) to control the first switching circuit to turn off. Since the turn-off of either the first or second switching circuit will de-energize the brake coil in the brake circuit 20, and the brake coil is an inductive load, its voltage will not change abruptly, causing a brief voltage rise in the brake control circuit 100, prompting the first detection circuit 120 to generate a first detection signal. Sending this first detection signal to the main control system verifies whether the first switching circuit is in normal working condition and whether there is a situation where component damage prevents it from turning off.The above methods allow for the separate detection of multiple switching circuits 110 to determine if any device failures could prevent shut-off, thus improving the safety and reliability of the brake control circuit. During detection, the first and second control signals provide a short-duration brake signal when the motor releases the brake, resulting in a weak brake action from the brake coil. Therefore, this narrow pulse should be as small as possible. If the pulse is too wide, it may cause unnecessary braking during motor rotation. The high-speed response requirement can be met by designing the circuit's switching speed. The above detection process can also detect the first circuit state of the brake circuit 20. When the circuit is first powered on or in a braked state, the brake power supply 20 conducts through the brake coil to the first detection circuit 120. If an open circuit occurs at this time, the voltage between the switching circuit 110 near the brake circuit 20 and the brake circuit 20 will be 0V, and the first detection circuit 120 will not conduct. Therefore, the first circuit state can be determined by whether the first detection circuit 120 is conducting. When the motor is running, by controlling multiple control signals Sc, when an open circuit occurs, the voltage between the switch circuit 110 near the brake circuit 20 and the brake circuit 20 will not increase, causing the first detection circuit 120 to conduct. Therefore, it is also possible to detect whether there is an open circuit in the brake circuit 20. In other words, if the main control system does not receive a signal through the first detection circuit 120, either the circuit status of multiple switch circuits 110 is abnormal, or there is an open circuit in the brake circuit 20. Through the first detection circuit 120, the main control system is aware of the abnormal state and can intervene and handle it as soon as possible, which greatly improves the safety of the entire system.

[0026] Please refer to Figure 2 This diagram illustrates a structural schematic of another brake control circuit provided in some embodiments of this application. The switching circuit 210 includes: a first optocoupler PC1, a first switching transistor Q1, and a first driving circuit 211; the first terminal of the first optocoupler PC1 is coupled to a control signal Sc, the second terminal is coupled to a first power supply V1, the third terminal is coupled to a brake power supply 20, and the fourth terminal is coupled to the first terminal of the first driving circuit 211; the second terminal of the first driving circuit 211 is coupled to the brake power supply 20, the third terminal is coupled to the gate of the first switching transistor Q1 through a first resistor R1, the fourth terminal is coupled to the gate of the first switching transistor Q1 through a second resistor R2, and the fourth terminal is grounded; the drain of the first switching transistor Q1 is coupled to the brake circuit 20, wherein multiple switching circuits are connected through the first switching transistor Q1, and the source of the first switching transistor Q1 in the last stage of the switching circuit is grounded.

[0027] The first driving circuit 211 can amplify the signal provided by the first optocoupler PC1. For example, if the signal provided by the first optocoupler PC1 is insufficient to drive the first switch Q1 to conduct under the voltage division effect of the first resistor R1 and the second resistor R2, the first driving circuit 211 can amplify the signal to meet the driving conditions of the first switch Q1. For example, the first driving circuit 211 can achieve amplification through transistors, or through the series connection of multiple transistors, such as forming a Darlington amplifier with two transistors, to increase the amplification factor, achieve high-gain current drive, and control the conduction of the subsequent first switch Q1. The control signal Sc can turn on the first optocoupler PC1, and thus turn on the first switch Q1, when its signal waveform is less than the voltage provided by the first power supply V1. In some embodiments, the first switch Q1 can be an NMOS transistor.

[0028] The brake circuit 20 includes: a brake coil BK, configured to be coupled to the brake of the motor M; and a freewheeling diode Dx, configured with its anode coupled to the negative terminal of the brake coil BK and its cathode coupled to the positive terminal of the brake coil BK and the brake power supply 10. Under the control of multiple control signals Sc, the brake control circuit can ground the negative terminal of the brake coil BK in the brake circuit 20, forming a current path in the brake circuit 20. When current flows through the brake coil BK, the motor brake can be released.

[0029] Please refer to Figure 3 This document illustrates a schematic diagram of a brake control circuit provided in some embodiments of this application. The first drive circuit 311 includes: a first transistor VT1 and a second transistor VT2; the collector of the first transistor VT1 is configured as the second terminal of the first drive circuit 311, its emitter is coupled to the emitter of the second transistor VT2 and configured as the third terminal of the first drive circuit 311, and its base is coupled to the base of the second transistor VT2 and configured as the first terminal of the first drive circuit 311; the collector of the second transistor VT2 is configured as the fourth terminal of the first drive circuit 311.

[0030] The switching circuit 310 further includes: a first diode D1 and a first capacitor C1; the first diode D1 is connected between the brake power supply 10 and the third terminal of the first optocoupler PC1; the first capacitor C1 is connected between the third terminal of the first optocoupler PC1 and the fourth terminal of the first drive circuit 311.

[0031] The first detection circuit 320 includes: a second optocoupler PC2, a third resistor R3 and a fourth resistor R4; the first end of the second optocoupler PC2 is coupled to the output end of the switch circuit 311 through the third resistor R3, the second end is grounded, the third end serves as the first detection output end, outputting the detection signal Check1, and the fourth end is grounded; the fourth resistor R4 is connected between the first end and the second end of the second optocoupler PC2.

[0032] In some embodiments, the brake control circuit further includes a third drive circuit 340, comprising a third transistor VT3, a first Zener diode Z1, and a twelfth resistor R12; the collector of the third transistor VT3 is coupled to the brake power supply 20, the base is coupled to the cathode of the first Zener diode Z1, and is coupled to the collector through the twelfth resistor R12, and the emitter is coupled to the switching circuit; the anode of the first Zener diode Z1 is grounded.

[0033] In the above-described brake control circuit 300, when the motor needs to release the brake, the main control system can provide low-level signals to the first optocoupler PC1 through multiple control signals Sc, causing the corresponding first switch Q1 to conduct, and the motor enters the brake release state. At this time, the drain voltage of the first switch Q1 is close to 0V, and the second optocoupler PC2 is not conducting. The main control system inputs a high-level signal with a very low duty cycle through the control signal Sc (e.g., a 20us high-level signal within a 1s cycle). This high level will cause the first optocoupler PC1 to turn off, thereby causing the switch Q1 to turn off. Since the turn-off of any one of the multiple first switches Q1 can cause the brake coil BK to be de-energized, and since the brake coil BK is an inductive load, the brake coil BK will freewheel through the freewheeling diode Dx. At this time, the drain voltage of the first switch Q1 near the brake circuit 20 is the brake power supply 10 voltage plus the freewheeling diode Dx voltage. This voltage can turn on the second optocoupler PC2, generating the first detection signal Check1, which is sent to the main control system. The main control system verifies whether the circuit is functioning correctly and whether there is any device damage preventing shutdown by sending a narrow pulse and then detecting this narrow pulse circuit through the second optocoupler PC2. The main control system can also input a control signal to the first optocoupler PC1 in the switching circuit located away from the brake circuit 20, providing a high-level signal with a very low duty cycle (e.g., a 20µs high-level signal within a 1s period). Figure 4The high level signal Sc1 shown will turn off the first optocoupler PC1 of the corresponding switching circuit, causing the first switching transistor Q1 of the switching circuit to turn off. At this time, the drain voltage of the first switching transistor Q1 will continuously rise to the sum of the voltage of the brake coil BK and the freewheeling voltage of the freewheeling diode Dx. At this time, the voltage of the third driving circuit 340 will also continuously rise. However, due to the presence of the first diode D1, the voltage of the third driving circuit 340 will also increase as the voltage rises. At this time, the first switching transistor Q1 in the switching circuit directly connected to the brake circuit 20 will still be in the conducting state. The power to keep the first switching transistor Q1 conducting is provided by the first capacitor C1, realizing bootstrapping. Since the turn-off of any one of the multiple first switching transistors Q1 can cause the brake coil to be de-energized, and since the brake coil is an inductive load, the brake coil will freewheel through the freewheeling diode D2. At this time, the second optocoupler PC2 can be used to detect this narrow pulse circuit to verify whether the circuit is in normal working condition and whether there is a situation where the device is damaged and cannot be turned off. The above methods allow for the detection of any one of multiple switching circuits to determine if a component failure is causing a failure to shut off, thus affecting safety and reliability. When detecting an open circuit in the brake coil BK, such as immediately upon power-on or during brake engagement, the brake power supply 10 flows through the brake coil BK to the third resistor R3 and the second optocoupler PC2, causing PC2 to conduct. If an open circuit occurs at this time, the drain voltage of the first switching transistor Q1 in the switch circuit directly connected to the brake circuit 20 will be 0V, and PC2 will not conduct, thus confirming an open circuit. During motor operation, if the brake coil BK is disconnected, the drain voltage of the first switching transistor Q1 in the switch circuit directly connected to the brake circuit 20 will not increase, preventing PC2 from conducting, thus also detecting a brake disconnection.

[0034] Since the brake power supply 10 is supplied by an external power source, there may be a problem of large voltage fluctuations. Therefore, the voltage of the input circuit can be adjusted by the first Zener diode Z1. When the voltage of the brake power supply 10 is lower than the Zener value of the first Zener diode Z1, the Zener diode does not conduct. At this time, the input voltage of the circuit is the brake voltage minus the voltage divided by the first Zener diode Z1. Although the driving voltage is insufficient, the main control system can determine the voltage abnormality through the over- and under-voltage detection signals, so the brake circuit 20 will not be turned on. When the voltage of the brake power supply 10 is greater than the Zener value of the first Zener diode Z1, the Zener diode conducts. At this time, the voltage of the input circuit is the voltage of the first Zener diode minus 0.7V, realizing the output of the third driving voltage.

[0035] Please refer to Figure 4The diagram illustrates a structural schematic of another brake control circuit provided in some embodiments of this application. The brake control circuit 400 further includes a second detection circuit 440 configured to couple the brake circuit 20 and the brake power supply 10, determining a second circuit state of the brake circuit 20 based on the voltage in the brake circuit 20, wherein the second circuit state includes an undervoltage state or an overvoltage state.

[0036] The second detection circuit 440 includes: a third optocoupler PC3, a first parallel voltage regulator W1, a fifth resistor R5, a sixth resistor R6, a seventh resistor R7, and an eighth resistor R8; the anode of the first parallel voltage regulator W1 is coupled to the brake circuit 20 and the brake power supply 10 through the series-connected fifth resistor R5 and sixth resistor R6, the first reference terminal is connected between the fifth resistor and the sixth resistor, and the cathode of the first parallel voltage regulator W1 is coupled to the first terminal of the third optocoupler PC3; the first terminal of the third optocoupler PC3 is coupled to the second terminal through the seventh resistor R7, the second terminal is coupled to the brake power supply 10 through the eighth resistor R8, the third terminal serves as the second detection output terminal, and the fourth terminal is grounded.

[0037] The second detection circuit 440 described above can achieve overvoltage or undervoltage protection for the brake circuit 20 by setting a voltage threshold for the first parallel voltage regulator W1. For example, for overvoltage protection, an overvoltage protection threshold can be set. Under the voltage division effect of the fifth resistor R5 and the sixth resistor R6, when the voltage in the brake circuit 20 is detected to be greater than the overvoltage protection threshold, the first parallel voltage regulator W1 will not conduct, so that the third optocoupler PC3 will not generate the second detection signal Check2. The main control system will then detect the overvoltage and perform corresponding processing. Alternatively, for undervoltage protection, by setting an undervoltage protection threshold, under the voltage division effect of the fifth resistor R5 and the sixth resistor R6, when the voltage in the brake circuit 20 is detected to be less than the undervoltage protection threshold, the first parallel voltage regulator W1 will not conduct, so that the third optocoupler PC3 will not generate the second detection signal Check2. The main control system will then detect the undervoltage and perform corresponding processing.

[0038] In some embodiments, the second detection circuit 440 further includes: a second parallel voltage regulator W2, a ninth resistor R9, and a tenth resistor R10; the anode of the second parallel voltage regulator W2 is coupled to the brake power supply through the series-connected ninth resistor R9 and tenth resistor R10, the second reference terminal is connected between the ninth resistor R9 and the tenth resistor R10, the cathode of the second parallel voltage regulator W2 is connected between the fifth resistor R5 and the sixth resistor R6, and the anode of the second parallel voltage regulator W2 is grounded.

[0039] The above brake control circuit can provide overvoltage and undervoltage protection for the brake circuit 20. Resistors R9 (ninth) and R10 (tenth) are overvoltage detection resistors, and resistors R5 (fifth) and R6 (sixth) are undervoltage detection resistors. When the voltage at the first reference terminal of the first parallel regulator W1 (after voltage division by resistors R5 and R6) in the brake circuit 20 is less than the preset undervoltage threshold, the first parallel regulator W1 does not conduct, causing the third optocoupler PC3 to de-conduct and preventing the generation of the second detection signal Check2. If the main control system cannot detect this signal, it can be determined that the brake circuit 20 has an open-circuit fault. When the voltage is greater than the preset undervoltage threshold but less than the preset overvoltage threshold (i.e., normal voltage), the voltage at the second reference terminal of the second parallel regulator W2 after the voltage divider resistors R9 and R10 is less than the preset value. No current flows through the anode and cathode of the second parallel regulator W2. The voltage at the first reference terminal after the voltage divider resistors R5 and R6 is greater than the preset value. At this time, the first parallel regulator W1 is turned on, which in turn turns on the third optocoupler PC3, providing the second detection signal Check2 to the main control system to confirm that the brake circuit 20 is fault-free.

[0040] When the voltage exceeds the preset overvoltage threshold, the voltage at the second reference terminal of the second parallel regulator W2, after being divided by resistors R9 and R10 (ninth and tenth resistors), is greater than the preset value. The second parallel regulator pulls down the voltage at undervoltage monitoring point B, thus the voltage at the first reference terminal of the first parallel regulator W1 is less than the preset value. At this time, the first parallel regulator W2 is not conducting, the third optocoupler PC3 is not conducting, and no second detection signal Check2 is generated. Therefore, by detecting the signal from the third optocoupler PC3, it is possible to determine whether an overvoltage or undervoltage condition exists. To avoid leakage current when the parallel regulator is not conducting, resistors R7 and R8 are used to prevent even a small leakage current from causing the third optocoupler PC3 to falsely turn on.

[0041] In some embodiments, continue to refer to Figure 4 The switching circuit also includes a second Zener diode Z2. The anode of the second Zener diode Z2 is coupled to the source of the first switching transistor Q1, and the cathode is coupled to the gate of the first switching transistor Q1. The second Zener diode Z2 can prevent high-frequency noise interference on the brake power supply from causing overvoltage or damage to the first switching transistor Q1. Since the freewheeling diode Dx charges the brake power supply during freewheeling, causing the brake power supply voltage to rise, the second Zener diode Z2 can prevent damage to the switching transistor caused by overvoltage.

[0042] In one embodiment, continue to refer to Figure 4It also includes an eleventh resistor, R11, connected between the base and collector of the second transistor VT2. The base of the transistor requires a defined potential reference. When there is no input signal (i.e., the first optocoupler PC1 is not conducting), the eleventh resistor R11 can pull the base of the transistor down to a potential close to ground, ensuring the transistor is in the off state and preventing mis-conduction that could cause circuit malfunctions. Simultaneously, it provides a low-impedance path, quickly pulling interference signals from the base down to ground potential, enhancing the circuit's anti-interference capability.

[0043] In the above brake control circuit, the first optocoupler PC1 can be replaced by a driving optocoupler instead of a regular optocoupler, resulting in a faster conduction speed and suitability for applications with stricter board area requirements. This driving optocoupler can provide a larger current gain to the switching transistor, and while meeting the driving requirements, it eliminates the need for a first and second driving circuit, further reducing circuit complexity and saving costs. Please refer to [reference needed]. Figure 5 The diagram shows a schematic representation of the structure of the first driving optocoupler provided in some embodiments of this application. Figure 5 In the example of replacing the first optocoupler PC1 with the first driving optocoupler PC1, this structure eliminates the structure of the first driving circuit and directly drives the first switching transistor Q1 through the first driving optocoupler PC11.

[0044] Based on the same technical concept, this application also provides a brake circuit, including: a brake coil and a freewheeling diode, configured such that the anode is coupled to the negative terminal of the brake coil and the cathode is coupled to the positive terminal of the brake coil and the brake power supply; the brake control circuit provided in the first aspect is configured to brake the motor through the brake coil under the control of multiple control signals.

[0045] Based on the same technical concept, this application also provides a servo driver, including the brake circuit provided in the second aspect. For example, the servo driver can reliably realize functions such as motor rotation, angle control, and emergency braking using the brake circuit provided in this application, and can be applied in industrial control fields including industrial robots and CNC machine tools.

[0046] In this disclosure, unless otherwise expressly specified and limited, ordinal numbers, such as "first," "second," etc., are used only to distinguish and describe related objects, and should not be construed as indicating or implying the relative importance or order between related objects. Furthermore, ordinal numbers do not represent the quantity of related objects.

[0047] "Multiple" includes two or more, and other classifiers are similar.

[0048] The terms "or" and "and / or" in this disclosure are used to describe relationships between related objects, indicating a non-exclusive inclusion. For example, "A and / or B" and "A or B" can both include: "A alone," "B alone," or "A and B," where "A" and "B" can include a single object or multiple objects. Similarly, "A, B and / or C," "A, B or C," and "A, B and C" can both include: "A alone," "B alone," "C alone," "A and B," "A and C," "B and C," or "A, B and C," where "A," "B," and "C" can include a single object or multiple objects. Additionally, the " / " in this disclosure is used to indicate an "or" relationship between related objects. The meanings of "at least one of A or B" and "one or more of A and B" in this disclosure are the same as the meaning of "A or B" above. The meanings of "one or more of A, B, and C" and "at least one of A, B, or C" are the same as the meaning of "A, B, or C" above. The meaning of "one or more of A, B, and C" is the same as the meaning of "A, B, or C" above.

[0049] In the above embodiments, the descriptions of each embodiment have their own emphasis. Parts not described in detail or in a particular embodiment can be referred to in the relevant descriptions of other embodiments. Furthermore, the above embodiments can be freely combined as needed.

Claims

1. A brake control circuit, characterized in that, include: Multiple switching circuits and a first detection circuit; The plurality of switching circuits are connected between the brake power supply and the brake circuit, and coupled to a plurality of control signals, and are configured to cause the brake power supply to supply power to the brake circuit based on the plurality of control signals. The first detection circuit, coupled to the output of the plurality of switching circuits, is configured to determine a first circuit state of the brake circuit based on the voltage in the brake circuit, and to determine the first circuit state of at least one of the switching circuits based on at least one of the control signals, wherein the first circuit state includes: an open circuit state or a short circuit state.

2. The brake control circuit according to claim 1, characterized in that, The switching circuit includes: a first optocoupler, a first switching transistor, and a first driving circuit; The first end of the first optocoupler is coupled to the control signal, the second end is coupled to the first power supply, the third end is coupled to the brake power supply, and the fourth end is coupled to the first end of the first drive circuit. The second end of the first driving circuit is coupled to the holding brake power supply, the third end is coupled to the gate of the first switching transistor through the first resistor, the fourth end is coupled to the gate of the first switching transistor through the second resistor, and the fourth end is grounded. The drain of the first switching transistor is coupled to the brake circuit, wherein the plurality of switching circuits are connected through the first switching transistor, and the source of the first switching transistor of the last stage of the switching circuit is grounded.

3. The brake control circuit according to claim 2, characterized in that, The first driving circuit includes: a first transistor and a second transistor; The collector of the first transistor is configured as the second terminal of the first driving circuit, the emitter is coupled to the emitter of the second transistor and configured as the third terminal of the first driving circuit, and the base is coupled to the base of the second transistor and configured as the first terminal of the first driving circuit. The collector of the second transistor is configured as the fourth terminal of the first driving circuit.

4. The brake control circuit according to claim 3, characterized in that, The switching circuit further includes: a first diode and a first capacitor; The first diode is connected between the brake power supply and the third terminal of the first optocoupler; The first capacitor is connected between the third terminal of the first optocoupler and the fourth terminal of the first driving circuit.

5. The brake control circuit according to any one of claims 1-4, characterized in that, The first detection circuit includes: a second optocoupler, a third resistor, and a fourth resistor; The first end of the second optocoupler is coupled to the output end of the switching circuit through the third resistor, the second end is grounded, the third end serves as the first detection output end, and the fourth end is grounded. The fourth resistor is connected between the first and second ends of the second optocoupler.

6. The brake control circuit according to any one of claims 1-4, characterized in that, Also includes: Second detection circuit; The second detection circuit is configured to couple the brake circuit and the brake power supply, and to determine a second circuit state of the brake circuit based on the voltage in the brake circuit, wherein the second circuit state includes: an undervoltage state or an overvoltage state.

7. The brake control circuit according to claim 6, characterized in that, The second detection circuit includes: a third optocoupler, a first parallel voltage regulator, a fifth resistor, a sixth resistor, a seventh resistor, and an eighth resistor; The anode of the first parallel voltage regulator is coupled to the brake circuit and the brake power supply through the fifth resistor and the sixth resistor connected in series. The first reference terminal is connected between the fifth resistor and the sixth resistor. The cathode of the first parallel voltage regulator is coupled to the first terminal of the third optocoupler. The first end of the third optocoupler is coupled to the second end through the seventh resistor, the second end is coupled to the brake power supply through the eighth resistor, the third end serves as the second detection output end, and the fourth end is grounded.

8. The brake control circuit according to claim 7, characterized in that, The second detection circuit includes: a second parallel voltage regulator, a ninth resistor, and a tenth resistor; The anode of the second parallel voltage regulator is coupled to the brake power supply through the ninth and tenth resistors connected in series. The second reference terminal is connected between the ninth and tenth resistors. The cathode of the second parallel voltage regulator is connected between the fifth and sixth resistors. The anode of the second parallel voltage regulator is grounded.

9. A brake lever circuit, characterized in that, include: The brake coil is configured to be coupled to the motor's brake. The freewheeling diode is configured such that its anode is coupled to the negative terminal of the brake coil, and its cathode is coupled to the positive terminal of the brake coil and the brake power supply. The brake control circuit according to any one of claims 1-8 is configured to brake the motor via the brake coil under the control of the plurality of control signals.

10. A servo driver, characterized in that, Includes the brake circuit of claim 9.

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