Intelligent robot emergency stop circuit
By integrating an emergency stop button and anti-collision strip sensor, combined with signal processing and self-locking control modules, the problems of intelligent robot emergency stop circuits being unable to integrate multiple signal sources and lacking self-locking are solved, thus improving response speed and safety.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- XIAMEN INTRETECH
- Filing Date
- 2025-07-01
- Publication Date
- 2026-07-14
AI Technical Summary
Existing emergency stop circuits for intelligent robots cannot effectively integrate multiple emergency stop signal sources and lack self-locking functionality, resulting in insufficient response speed and safety in emergency situations.
An intelligent robot emergency stop circuit was designed, integrating an emergency stop button and a collision avoidance strip sensor. It integrates multiple emergency stop signal sources through a signal processing module and a self-locking control module, and has a self-locking function. Components such as optocouplers, MOSFETs, and RC parallel circuits are included to ensure stable signal transmission and automatic latching.
It achieves effective integration of multiple emergency stop signal sources. The self-locking function automatically maintains the emergency stop state after being triggered, without the need for manual intervention. This improves the response speed and safety of intelligent robots in emergency situations and enhances the reliability and anti-interference capability of the circuit.
Smart Images
Figure CN224501178U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of circuit technology, and in particular to an emergency stop circuit for an intelligent robot. Background Technology
[0002] Existing intelligent robots are typically equipped with an emergency stop button for manual activation. However, for complex systems, especially those that require the integration of multiple different devices and sensors, a single emergency stop button is no longer sufficient.
[0003] In addition, traditional emergency stop systems usually require manual reset after being triggered and cannot automatically maintain a stopped state, which may lead to an inability to respond to secondary emergencies in a timely manner in some cases.
[0004] It is evident that existing emergency stop circuits for intelligent robots cannot effectively integrate multiple emergency stop signal sources and lack self-locking functionality. Utility Model Content
[0005] To address the aforementioned problems, the purpose of this invention is to provide an intelligent robot emergency stop circuit that can effectively integrate multiple emergency stop signal sources and has a self-locking function.
[0006] This utility model is implemented using the following method: an emergency stop circuit for an intelligent robot, comprising:
[0007] A power supply is used to provide power to a circuit.
[0008] An emergency stop trigger source module is used to trigger an emergency stop signal. The emergency stop trigger source module includes at least one emergency stop button and at least one anti-collision bar sensor interface. Both the emergency stop button and the anti-collision bar sensor interface are connected to the power supply.
[0009] Multiple signal processing modules are used to process emergency stop signals and output them to the MCU and the self-locking control module; each signal processing module includes a first optocoupler, the input end of which is connected to the interface of the emergency stop button or the anti-collision strip sensor, and the output end is connected to the MCU and the self-locking control module respectively;
[0010] The self-locking control module is used to receive the emergency stop signal output by the signal processing module and latch the emergency stop state. It is also used to output the latched emergency stop signal to the motor control module. The self-locking control module includes a self-locking circuit. The input terminal of the self-locking circuit is connected to multiple signal processing modules, and the output terminal is connected to the motor control module.
[0011] The motor control module is used to receive the processed emergency stop signal and control the motor to stop moving.
[0012] Preferably, the signal processing module further includes a first current-limiting resistor, a first pull-up resistor, and a logic power supply;
[0013] The first pin of the first optocoupler is connected to the interface of the emergency stop button or the anti-collision strip sensor through the first current-limiting resistor;
[0014] The fourth pin of the first optocoupler is connected to the MCU, the second and third pins are grounded, and the fourth pin is also connected to the logic power supply through the first pull-up resistor.
[0015] Preferably, a first reserved resistor is connected in series between the fourth pin of the first optocoupler and the MCU.
[0016] Preferably, the signal processing module further includes a diode, the anode of which is connected to the interface of the emergency stop button or anti-collision strip sensor, and the cathode is connected to the input terminal of the self-locking circuit.
[0017] Preferably, the self-locking circuit includes a first MOSFET, a second MOSFET, a third MOSFET, a second optocoupler, and multiple RC parallel circuits;
[0018] The gate of the first MOSFET is connected to the cathode of the diode in the multiple signal processing modules through the second current limiting resistor. The source of the first MOSFET is grounded. The drain of the first MOSFET is connected to the gate of the second MOSFET through the second reserved resistor. The drain of the first MOSFET is also connected to the power supply through the second pull-up resistor.
[0019] The source of the second MOSFET is grounded, the drain of the second MOSFET is connected to the motor control module through the third reserved resistor, the drain of the second MOSFET is also connected to the gate of the third MOSFET through the third current limiting resistor, and the drain of the second MOSFET is also connected to the power supply through the third pull-up resistor.
[0020] The source of the third MOSFET is grounded, and the drain of the third MOSFET is connected to the motor control module.
[0021] The drain of the second MOSFET is also connected to the first pin of the second optocoupler through the fourth current-limiting resistor. The second and third pins of the second optocoupler are grounded, and the fourth pin is connected to the MCU.
[0022] Multiple RC parallel circuits are respectively connected between the gate and source of the first MOSFET and the third MOSFET.
[0023] Preferably, the RC parallel circuit includes a first filter capacitor and a bleeder resistor connected in parallel.
[0024] Preferably, the fourth pin of the second optocoupler is also connected to the logic power supply via a fourth pull-up resistor.
[0025] Preferably, a fourth reserved resistor is connected in series between the fourth pin of the second optocoupler and the MCU.
[0026] Preferably, the third pull-up resistor is also connected in series with the fourth current-limiting resistor and the first filter capacitor connected between the gate and source of the first MOS transistor.
[0027] Preferably, the intelligent robot emergency stop circuit further includes: an emergency stop signal clearing module, which is connected to the MCU and the self-locking control module respectively, and is used to receive the emergency stop signal clearing command issued by the MCU and output it to the self-locking control module;
[0028] The emergency stop signal clearing module includes at least a transistor and a third optocoupler;
[0029] The base of the transistor is connected to the MCU through the fifth reserved resistor, the emitter is grounded, and the collector is connected to the second pin of the third optocoupler through the fifth current-limiting resistor.
[0030] The first pin of the third optocoupler is connected to the logic power supply, the fourth pin of the third optocoupler is connected to the gate of the first MOS transistor, and the third pin of the third optocoupler is grounded.
[0031] Compared with the prior art, the beneficial effects of this utility model are as follows:
[0032] 1. By integrating an emergency stop button and a collision avoidance strip sensor, multiple emergency stop signal sources are effectively integrated. Its self-locking function can automatically maintain the emergency stop state after being triggered without manual intervention, thus solving the problems of existing technologies that cannot effectively integrate multiple emergency stop signal sources and lack self-locking functions; significantly improving the response speed and safety of intelligent robots in emergency situations.
[0033] 2. The signal processing module includes a first current-limiting resistor, a first pull-up resistor, and a logic power supply, which ensures the stable operation of the first optocoupler and the accurate transmission of signals. The first current-limiting resistor prevents excessive current from damaging the optocoupler, while the first pull-up resistor ensures the stable state of the output of the first optocoupler when there is no signal input, thereby enhancing the reliability and anti-interference capability of the circuit.
[0034] 3. The first reserved resistor connected in series between the fourth pin of the first optocoupler and the MCU further stabilizes the signal transmission and prevents signal jitter or false triggering.
[0035] 4. The diodes in the signal processing module make the connection between the emergency stop button or anti-collision strip sensor interface and the self-locking circuit more stable, preventing the influence of reverse current on the circuit and enhancing the safety and durability of the circuit.
[0036] 5. The self-locking circuit includes a first MOSFET, a second MOSFET, a third MOSFET, a second optocoupler, and an RC parallel circuit, which together form a stable emergency stop control and latching mechanism. It can not only effectively process and transmit emergency stop signals, but also automatically latch the state after an emergency stop is triggered until reset, thereby improving the circuit's safety and response efficiency.
[0037] 6. The first filter capacitor and bleeder resistor in the RC parallel circuit ensure stable circuit operation and accurate signal transmission by filtering out high-frequency noise and stabilizing voltage in the signal.
[0038] 7. The fourth pin of the second optocoupler is connected to the logic power supply through the fourth pull-up resistor, which further stabilizes the signal transmission and prevents false triggering of the signal.
[0039] 8. The fourth reserved resistor connected in series between the fourth pin of the second optocoupler and the MCU ensures stable transmission during the emergency stop signal clearing process.
[0040] 9. The third pull-up resistor, the fourth current-limiting resistor, and the first filter capacitor are connected in series to enhance the voltage stability of the gate of the first MOS transistor, prevent voltage fluctuations, and improve the reliability and response speed of the circuit.
[0041] 10. The emergency stop signal clearing module allows the MCU to send a clear signal, thereby quickly resetting the system in an emergency and restoring the normal operation of the intelligent robot. Attached Figure Description
[0042] Figure 1 This is a module block diagram of an embodiment of an emergency stop circuit for an intelligent robot according to this utility model.
[0043] Figure 2 This is a circuit diagram of an embodiment of an emergency stop circuit for an intelligent robot according to this utility model.
[0044] The following are the diagram numbers: 10, Emergency Stop Trigger Source Module; 20, Signal Processing Module; 30, MCU; 40, Self-Locking Control Module; 50, Motor Control Module; 60, Emergency Stop Signal Clearing Module. Detailed Implementation
[0045] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.
[0046] Please see Figure 1 The present invention relates to an emergency stop circuit for an intelligent robot, comprising:
[0047] A power supply is used to provide power to a circuit.
[0048] Emergency stop trigger source module 10 is used to trigger an emergency stop signal; the emergency stop trigger source module 10 includes at least one emergency stop button and at least one anti-collision bar sensor interface, and both the emergency stop button and the anti-collision bar sensor interface are connected to the power supply.
[0049] Multiple signal processing modules 20 are used to process emergency stop signals and output them to MCU30 and self-locking control module 40; each signal processing module 20 includes a first optocoupler, the input end of which is connected to the interface of the emergency stop button or anti-collision strip sensor, and the output end is connected to MCU30 and self-locking control module 40 respectively.
[0050] The self-locking control module 40 is used to receive the emergency stop signal output by the signal processing module 20 and latch the emergency stop state, and is also used to output the latched emergency stop signal to the motor control module 50. The self-locking control module 40 includes a self-locking circuit, the input terminal of which is connected to multiple signal processing modules 20 respectively, and the output terminal is connected to the motor control module 50.
[0051] The motor control module 50 is used to receive the processed emergency stop signal and control the motor to stop moving.
[0052] This invention integrates an emergency stop button and a collision avoidance strip sensor, achieving effective integration of multiple emergency stop signal sources. Its self-locking function automatically maintains the emergency stop state after triggering, requiring no manual intervention. This solves the problems of existing technologies that cannot effectively integrate multiple emergency stop signal sources and lack self-locking functionality; significantly improving the response speed and safety of intelligent robots in emergency situations.
[0053] Please see Figure 1 and Figure 2 In this embodiment, the signal processing module 20 further includes a first current-limiting resistor R437 / R434, a first pull-up resistor R438 / R431, and a logic power supply SYS_3V3;
[0054] Specifically, Figure 2 It includes two signal processing modules 20, where J27 represents the emergency stop button, J33 represents the anti-collision strip sensor interface, and U32 / U31 represents the first optocoupler.
[0055] like Figure 2 As shown, the first pin of the first optocoupler U32 is connected to the emergency stop button J27 through the first current limiting resistor R437, the fourth pin of the first optocoupler U32 is connected to the MCU30 (the specific model of the MCU is not shown in the figure), the second pin and the third pin are grounded, and the fourth pin is also connected to the logic power supply SYS_3V3 through the first pull-up resistor R438.
[0056] The first pin of the first optocoupler U31 is connected to the anti-collision strip sensor interface through the first current limiting resistor R434. The fourth pin of the first optocoupler U31 is connected to the MCU30. The second and third pins are grounded. The fourth pin is also connected to the logic power supply SYS_3V3 through the first pull-up resistor R431.
[0057] The signal processing module 20 of this utility model includes a first current-limiting resistor R437 / R434, a first pull-up resistor R438 / R431, and a logic power supply SYS_3V3, which ensures the stable operation of the first optocoupler U32 / U31 and the accurate transmission of signals. The first current-limiting resistor R437 / R434 prevents excessive current from damaging the first optocoupler U32 / U31, while the first pull-up resistor R438 / R431 ensures the stable state of the output terminal (fourth pin) of the first optocoupler U32 / U31 when there is no signal input, thereby enhancing the reliability and anti-interference capability of the circuit.
[0058] Preferably, a first reserved resistor R439 / R432 is connected in series between the fourth pin of the first optocoupler U32 / U31 and the MCU30, further stabilizing signal transmission and preventing signal jitter or false triggering. Furthermore, a reserved resistor R436 can also be connected in series between the emergency stop button J27 and the power supply, and this reserved resistor R436 is also grounded through a filter capacitor C310; similarly, a reserved resistor R433 can also be connected in series between the anti-collision strip sensor interface J33 and the power supply, and this reserved resistor R433 is also grounded through a filter capacitor C309.
[0059] In this embodiment, the signal processing module 20 further includes diodes D17 / D16.
[0060] like Figure 2 As shown, the anode of diode D17 is connected to the emergency stop button J27, and the cathode is connected to the input terminal of the self-locking circuit. This makes the connection between the emergency stop button J27 and the self-locking circuit more stable, prevents the reverse current from affecting the circuit, and enhances the safety and durability of the circuit.
[0061] The anode of diode D16 is connected to the anti-collision strip sensor interface J33, and the cathode is connected to the input terminal of the self-locking circuit. This makes the connection between the anti-collision strip sensor interface J33 and the self-locking circuit more stable, prevents the influence of reverse current on the circuit, and enhances the safety and durability of the circuit.
[0062] It is understandable that, such as Figure 2 As shown, J28 represents another emergency stop button. The two emergency stop buttons, J27 and J28, can be placed at different locations on the intelligent robot, such as the front and rear ends. Although Figure 2Only the circuit portion of the signal processing module 20 connected to the emergency stop button J27 is shown in the diagram, but the circuit portion of the signal processing module 20 connected to the emergency stop button J28 can be referenced from the circuit portion of the signal processing module 20 connected to the emergency stop button J27.
[0063] In this embodiment, the self-locking circuit includes a first MOSFET Q36, a second MOSFET Q34, a third MOSFET Q38, a second optocoupler U29, and multiple RC parallel circuits;
[0064] The gate of the first MOSFET Q36 is connected to the cathode of diodes D17 / D16 in the multiple signal processing modules 20 through the second current limiting resistor R440. The source of the first MOSFET Q36 is grounded. The drain of the first MOSFET Q36 is connected to the gate of the second MOSFET Q34 through the second reserved resistor R411. The drain of the first MOSFET Q36 is also connected to the power supply through the second pull-up resistor R392.
[0065] The source of the second MOSFET Q34 is grounded through a filter capacitor C297, and the other end of the filter capacitor C297 is connected to the power supply. The drain of the second MOSFET Q34 is connected to the motor control module 50 through a third reserved resistor R410. The drain of the second MOSFET Q34 is also connected to the gate of the third MOSFET Q38 through a third current limiting resistor R412. The drain of the second MOSFET Q34 is also connected to the power supply through a third pull-up resistor R391. The drain of the second MOSFET Q34 is also grounded through a filter capacitor C298.
[0066] The source of the third MOSFET Q38 is grounded, and the drain of the third MOSFET Q38 is connected to the motor control module 50.
[0067] The drain of the second MOSFET Q34 is also connected to the first pin of the second optocoupler U29 through the fourth current-limiting resistor R398. The second and third pins of the second optocoupler U29 are grounded, and the fourth pin is connected to the MCU30.
[0068] Multiple RC parallel circuits are respectively connected between the gate and source of the first MOSFET Q36 and the third MOSFET Q38.
[0069] This utility model's self-locking circuit includes a first MOSFET Q36, a second MOSFET Q34, a third MOSFET Q38, a second optocoupler U29, and an RC parallel circuit, which together constitute a stable emergency stop control and latching mechanism. It can not only effectively process and transmit emergency stop signals, but also automatically latch the state after an emergency stop is triggered until reset, thereby improving the circuit's safety and response efficiency.
[0070] In this embodiment, the RC parallel circuit includes a first filter capacitor C299 / C300 and a bleeder resistor R397 / R405 connected in parallel. By filtering out high-frequency noise and stabilizing the voltage in the signal, it ensures the stable operation of the circuit and the accurate transmission of the signal.
[0071] like Figure 2 As shown, the first filter capacitor C299 is connected in parallel with the bleeder resistor R397. This RC parallel circuit is connected between the gate and source of the first MOSFET Q36.
[0072] The first filter capacitor C300 is connected in parallel with the bleeder resistor R405. This RC parallel circuit is connected between the gate and source of the third MOSFET Q38.
[0073] In this embodiment, the fourth pin of the second optocoupler U29 is also connected to the logic power supply SYS_3V3 through the fourth pull-up resistor R403, which further stabilizes the signal transmission and prevents false triggering of the signal.
[0074] In this embodiment, a fourth reserved resistor R404 is connected in series between the fourth pin of the second optocoupler U29 and the MCU30 to ensure stable transmission during the emergency stop signal clearing process.
[0075] In this embodiment, the third pull-up resistor R391 is also connected in series with the fourth current-limiting resistor R398 and the first filter capacitor C299 connected between the gate and source of the first MOS transistor Q36, which enhances the voltage stability of the gate of the first MOS transistor Q36, prevents voltage fluctuations, and improves the reliability and response speed of the circuit.
[0076] In this embodiment, the intelligent robot emergency stop circuit further includes an emergency stop signal clearing module 60, which is connected to the MCU 30 and the self-locking control module 40 respectively. It is used to receive the emergency stop signal clearing command issued by the MCU 30 and output it to the self-locking control module 40, so as to quickly reset the system and restore the normal operation of the intelligent robot in an emergency.
[0077] like Figure 2 As shown, the emergency stop signal clearing module 60 includes at least a transistor Q37 and a third optocoupler U28;
[0078] The base of transistor Q37 is connected to MCU30 through the fifth reserved resistor R402, the emitter is grounded, and the collector is connected to the second pin of the third optocoupler U28 through the fifth current limiting resistor R399.
[0079] The first pin of the third optocoupler U28 is connected to the logic power supply SYS_3V3, the fourth pin of the third optocoupler U28 is connected to the gate of the first MOSFET Q36, and the third pin of the third optocoupler U28 is grounded.
[0080] The working principle of this utility model is as follows:
[0081] Emergency stop signal triggering stage: When the emergency stop button (taking J27 as an example) or the anti-collision strip sensor triggers the emergency stop signal, a voltage is output to drive the first optocoupler U32 / U31 to isolate the high-voltage circuit from the low-voltage logic circuit to prevent interference and high voltage damage to MCU30; the first optocoupler U32 / U31 feeds back the processed emergency stop signal to MCU30 (notifying MCU30 that someone has pressed the emergency stop button J27, or notifying MCU30 that the intelligent robot has touched a person or object, at which time the software can also perform a software emergency stop mechanism).
[0082] Simultaneously, the output voltage drives the self-locking control module 40 through diode D16 or D17 in a unidirectional output, enabling the gate of the first MOSFET Q36 to receive sufficient voltage (exceeding the threshold) and turn on. After the first MOSFET Q36 turns on, its drain potential decreases, pulling down the gate voltage of the second MOSFET Q34 through the second reserved resistor R411.
[0083] Signal amplification and transmission stage: When the gate voltage of the second MOSFET Q34 drops below the threshold, it turns on, and its source power supply outputs a signal through the drain of the turned second MOSFET Q34; one of this signal drives the gate of the third MOSFET Q38 through the third current-limiting resistor R412, making the third MOSFET Q38 turn on, and the motor control module 50 is grounded through the drain of the third MOSFET Q38 to realize the emergency stop braking of the motor; the other signal is input to the first pin of the second optocoupler U29 through the fourth current-limiting resistor R398, driving the light-emitting diode inside the second optocoupler U29 to emit light.
[0084] Signal feedback and self-locking stage: The phototransistor inside the second optocoupler U29 is turned on by the light-emitting diode. The fourth pin of the second optocoupler U29 is connected to the logic power supply SYS_3V3 through the fourth pull-up resistor R403, and is connected to the motor control module 50 through the fourth reserved resistor R404. The emergency stop signal is output to the emergency stop interface of the motor control module 50. After receiving the signal, the motor immediately performs hardware emergency braking to prevent the robot from moving and causing harm to people or things.
[0085] Meanwhile, the circuit's self-locking function is maintained by the conduction state of the second MOSFET Q34. Even if the emergency stop signal disappears, the gate of the second MOSFET Q34 can remain on due to the pull-up effect of the second pull-up resistor R392, thus maintaining the emergency stop state (i.e., latching) until the MCU30 outputs a clear signal (such as through the Cancel_scram signal).
[0086] During the self-locking release phase: MCU30 sends an emergency stop signal clearing command to the emergency stop signal clearing module 60. This command is transmitted to the base of transistor Q37 via the fifth reserved resistor R402, causing the base voltage to rise and transistor Q37 to conduct. After transistor Q37 conducts, current flows through the internal LED of the third optocoupler U28, causing its phototransistor to conduct. With the phototransistor of the third optocoupler U28 conducting, the gate voltage of the first MOSFET Q36 decreases, turning it on. After Q36 conducts, the gate voltage of the second MOSFET Q34 decreases, turning it off and cutting off the power supply. With Q34 off, its drain voltage decreases, causing the gate voltage of the third MOSFET Q38 to also decrease, turning it off and ensuring the motor stops. With both Q34 and Q38 off, the self-locking state is released.
[0087] Several points should be noted: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection" and "linkage" should be interpreted broadly, and can be mechanical or electrical connection, or internal connection between two components, or direct connection. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationship. When the absolute position of the described object changes, the relative positional relationship may change.
[0088] Secondly: The accompanying drawings of the embodiments disclosed in this utility model only involve the structures involved in the embodiments disclosed in this utility model. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this utility model can be combined with each other.
[0089] Finally, the above description is only a preferred embodiment of the present utility model. The protection scope of the present utility model is not limited to the above embodiments. All technical solutions that fall within the scope of the present utility model are protected by the present utility model.
[0090] It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of this utility model should also be considered within the scope of protection of this utility model.
Claims
1. An emergency stop circuit for an intelligent robot, characterized in that, include: A power supply is used to provide power to a circuit. An emergency stop trigger source module is used to trigger an emergency stop signal. The emergency stop trigger source module includes at least one emergency stop button and at least one anti-collision bar sensor interface. Both the emergency stop button and the anti-collision bar sensor interface are connected to the power supply. Multiple signal processing modules are used to process emergency stop signals and output them to the MCU and the self-locking control module; each signal processing module includes a first optocoupler, the input end of which is connected to the interface of the emergency stop button or the anti-collision strip sensor, and the output end is connected to the MCU and the self-locking control module respectively; The self-locking control module is used to receive the emergency stop signal output by the signal processing module and latch the emergency stop state. It is also used to output the latched emergency stop signal to the motor control module. The self-locking control module includes a self-locking circuit. The input terminal of the self-locking circuit is connected to multiple signal processing modules, and the output terminal is connected to the motor control module. The motor control module is used to receive the processed emergency stop signal and control the motor to stop moving.
2. The intelligent robot emergency stop circuit according to claim 1, characterized in that, The signal processing module also includes a first current-limiting resistor, a first pull-up resistor, and a logic power supply; The first pin of the first optocoupler is connected to the interface of the emergency stop button or the anti-collision strip sensor through the first current-limiting resistor; The fourth pin of the first optocoupler is connected to the MCU, the second and third pins are grounded, and the fourth pin is also connected to the logic power supply through the first pull-up resistor.
3. The intelligent robot emergency stop circuit according to claim 2, characterized in that, A first reserved resistor is connected in series between the fourth pin of the first optocoupler and the MCU.
4. The intelligent robot emergency stop circuit according to claim 2, characterized in that, The signal processing module also includes a diode, the anode of which is connected to the interface of the emergency stop button or anti-collision strip sensor, and the cathode is connected to the input terminal of the self-locking circuit.
5. The intelligent robot emergency stop circuit according to claim 4, characterized in that, The self-locking circuit includes a first MOSFET, a second MOSFET, a third MOSFET, a second optocoupler, and multiple RC parallel circuits; The gate of the first MOSFET is connected to the cathode of the diode in the multiple signal processing modules through the second current limiting resistor. The source of the first MOSFET is grounded. The drain of the first MOSFET is connected to the gate of the second MOSFET through the second reserved resistor. The drain of the first MOSFET is also connected to the power supply through the second pull-up resistor. The source of the second MOSFET is grounded, the drain of the second MOSFET is connected to the motor control module through the third reserved resistor, the drain of the second MOSFET is also connected to the gate of the third MOSFET through the third current limiting resistor, and the drain of the second MOSFET is also connected to the power supply through the third pull-up resistor. The source of the third MOSFET is grounded, and the drain of the third MOSFET is connected to the motor control module. The drain of the second MOSFET is also connected to the first pin of the second optocoupler through the fourth current-limiting resistor. The second and third pins of the second optocoupler are grounded, and the fourth pin is connected to the MCU. Multiple RC parallel circuits are respectively connected between the gate and source of the first MOSFET and the third MOSFET.
6. The intelligent robot emergency stop circuit according to claim 5, characterized in that, The RC parallel circuit includes a first filter capacitor and a discharge resistor connected in parallel.
7. The intelligent robot emergency stop circuit according to claim 5, characterized in that, The fourth pin of the second optocoupler is also connected to the logic power supply via a fourth pull-up resistor.
8. The intelligent robot emergency stop circuit according to claim 7, characterized in that, A fourth reserved resistor is connected in series between the fourth pin of the second optocoupler and the MCU.
9. The intelligent robot emergency stop circuit according to claim 8, characterized in that, The third pull-up resistor is also connected in series with the fourth current-limiting resistor and the first filter capacitor connected between the gate and source of the first MOS transistor.
10. The intelligent robot emergency stop circuit according to claim 5, characterized in that, Also includes: The emergency stop signal clearing module is connected to the MCU and the self-locking control module respectively. It is used to receive the emergency stop signal clearing command issued by the MCU and output it to the self-locking control module. The emergency stop signal clearing module includes at least a transistor and a third optocoupler; The base of the transistor is connected to the MCU through the fifth reserved resistor, the emitter is grounded, and the collector is connected to the second pin of the third optocoupler through the fifth current-limiting resistor. The first pin of the third optocoupler is connected to the logic power supply, the fourth pin of the third optocoupler is connected to the gate of the first MOS transistor, and the third pin of the third optocoupler is grounded.