A double-way relay brake-holding servo motor control circuit and system

Abstract

The utility model discloses a kind of two-way relay clutch servo motor control circuit and system, belong to electronic brake technical field, comprising: power supply circuit, first relay subcircuit, second relay subcircuit and control subcircuit;Wherein the first output of power supply circuit is electrically connected with the first input of second relay subcircuit, second output and first relay subcircuit input end switchable electric connection, first ground terminal is electrically connected with the first ground terminal of control subcircuit;The first output of first relay subcircuit is electrically connected with the output of control subcircuit, second output is electrically connected with the first input of control subcircuit;The output of control subcircuit is electrically connected with the second input of second relay subcircuit. Through the circuit, under the condition that motor clutch is locked, by controlling switch closing state, motor clutch is loosened, thereby effectively reduce maintenance difficulty and reduce maintenance cost.

Description

Technical Field

[0001] This utility model relates to the field of electronic braking technology, and in particular to a dual-channel relay brake servo motor control circuit and system. Background Technology

[0002] Automated Guided Vehicles (AGVs) are transport vehicles equipped with electromagnetic or optical automatic guidance devices, enabling them to travel along a prescribed path and providing safety protection and various transfer functions. Due to their high degree of automation and flexibility, AGVs have demonstrated significant application value in smart logistics, warehouse management, and other fields in recent years. However, when an AGV malfunctions or encounters an emergency, its control system sends a control signal to lock the brake motor, but cannot send a control signal to release the brake. This results in the AGV being unable to move after the brake motor locks, requiring an external tow truck to remove it from the fault location. This increases the difficulty of AGV maintenance and disrupts the production site.

[0003] To address the issue of an unmanned transport vehicle (ARTV) becoming immobile when the brake motor locks up, current technologies typically involve repowering the brake device when the controller malfunctions. Common methods include adding an additional 24V switch power supply or preparing a 24V jumper. Adding an additional 24V switch power supply is costly and involves complex wiring, while using a 24V jumper requires disassembling the ARTV, resulting in lengthy operation times. Alternatively, an additional switch can be added using a single relay. When the relay contacts open, the additional switch controls the relay contacts to reconnect, repowering the controller. However, this method is prone to causing backflow of output current into the controller, potentially burning it out. Utility Model Content

[0004] This utility model provides a dual-channel relay brake servo motor control circuit and system to solve the above-mentioned technical problems. With this circuit, the motor brake can be released by controlling the closed state of the switch when the motor brake is locked, thereby effectively reducing maintenance difficulty and maintenance costs.

[0005] To address the aforementioned problems, this utility model provides a dual-channel relay brake servo motor control circuit, comprising: a power supply circuit, a first relay sub-circuit, a second relay sub-circuit, and a control sub-circuit; wherein: The first input terminal of the power supply circuit serves as the voltage input terminal of the dual-channel relay brake servo motor control circuit. The second input terminal of the power supply circuit is grounded; The first output terminal of the power supply circuit is electrically connected to the first input terminal of the second relay sub-circuit. The second output terminal of the power supply circuit can be switched to be electrically connected to the input terminal of the first relay sub-circuit; The first ground terminal of the power supply circuit is electrically connected to the first ground terminal of the control sub-circuit. The second grounding terminal of the power supply circuit serves as the grounding terminal of the dual-channel relay brake servo motor control circuit. The first output terminal of the first relay sub-circuit is electrically connected to the output terminal of the control sub-circuit. The second output terminal of the first relay sub-circuit is electrically connected to the first input terminal of the control sub-circuit. The output terminal of the control sub-circuit is electrically connected to the second input terminal of the second relay sub-circuit. The first output terminal of the second relay sub-circuit serves as the voltage output terminal of the dual-channel relay brake servo motor control circuit. The second output terminal of the second relay sub-circuit is grounded.

[0006] In the above scheme, when the dual-channel relay brake servo motor control circuit is in normal state, the power supply circuit provides DC power to the control sub-circuit. The DC power is provided to the control sub-circuit through the first relay sub-circuit, and the control sub-circuit outputs a high-level signal. The second relay sub-circuit receives the DC power and outputs DC voltage through the voltage output terminal of the dual-channel relay brake servo motor control circuit. When the control subcircuit is in an abnormal state, it cannot output a high-level signal. At this time, the second relay also cannot normally receive DC power and output DC voltage through the voltage output terminal of the relay-driven brake servo motor control circuit. However, by simply changing the circuit state of the first relay subcircuit, DC power will flow back into the second relay subcircuit. After receiving DC power again, the second relay subcircuit can normally receive DC power and output DC voltage through the voltage output terminal of the relay-driven brake servo motor control circuit. This solution allows the second relay subcircuit to supply power normally even when the motor brake is locked, through simple and convenient operation. This solution effectively reduces maintenance difficulty and costs.

[0007] Furthermore, the power supply circuit includes: a dual-channel DC-DC converter and a first switch; wherein: The first input terminal of the dual-channel DC-DC converter is electrically connected to one end of the first switch, and the other end of the first switch serves as the first input terminal of the power supply circuit. The second input terminal of the dual-channel DC-DC converter serves as the second input terminal of the power supply circuit. The high-level output terminal of the dual-channel DC-DC converter serves as the first output terminal of the power supply circuit. The low-level output terminal of the dual-channel DC-DC converter serves as the second output terminal of the power supply circuit. The low-level ground terminal of the dual-channel DC-DC converter serves as the first ground terminal of the power supply circuit. The high-level ground terminal of the dual-channel DC-DC converter serves as the second ground terminal of the power supply circuit.

[0008] In the above scheme, the power supply circuit transmits and distributes power to the first relay sub-circuit, the second relay sub-circuit, and the control sub-circuit. The dual-channel DC-DC converter can convert a single DC voltage into two independent outputs simultaneously. It can also power the motor brake in case of an abnormality without the need for additional switching power supply combination, effectively saving costs and reducing wiring complexity.

[0009] Furthermore, the first relay sub-circuit includes: a first relay and a second switch; wherein: The first input terminal of the first relay is electrically connected to one end of the second switch, and the other end of the second switch is electrically connected to the second input terminal of the first relay. The switchable electrical connection between the first relay sub-circuit and the power supply circuit is achieved by the second switch; The first input terminal of the first relay serves as the input terminal of the first relay sub-circuit; The first output terminal of the first relay serves as the first output terminal of the first relay sub-circuit. The second output terminal of the first relay serves as the second output terminal of the first relay sub-circuit.

[0010] In the above scheme, when the control sub-circuit malfunctions and causes the motor device to lock up, the first relay can allow the current to continue to flow to the second relay in the second relay sub-circuit, causing the built-in switch in the second relay to close, at which time the motor brake device can release the brake.

[0011] Furthermore, the second relay sub-circuit includes: a second relay and a third switch; wherein: The first input terminal of the second relay serves as the first input terminal of the second relay sub-circuit. The second input terminal of the second relay serves as the second input terminal of the second relay sub-circuit. The first output terminal of the second relay serves as the first output terminal of the second relay sub-circuit. The second output terminal of the second relay is electrically connected to one end of the third switch, and the other end of the third switch serves as the second output terminal of the second relay sub-circuit.

[0012] Furthermore, the control sub-circuit includes: an IDU controller and a first diode; wherein: The first input terminal of the IDU controller serves as the first input terminal of the control sub-circuit. The second input terminal of the IDU controller serves as the second input terminal of the control sub-circuit. The first output terminal of the IDU controller is electrically connected to the positive terminal of the first diode, and the negative terminal of the first diode serves as the output terminal of the control sub-circuit.

[0013] In the above scheme, the IDU controller can control the closed state of the first switch, the second switch, and the third switch; through the unidirectional conduction characteristic of the first diode, the second switch can be effectively prevented from opening, the potential stability of the connection point between the first output terminal of the first relay and the second input terminal of the second relay can be stabilized, and the backflow of current to the IDU controller can be effectively prevented, thus preventing damage to the IDU controller.

[0014] This utility model also provides a dual-channel relay brake servo motor control system, including: a main power supply, an electronic power supply circuit, a first relay sub-circuit, a second relay sub-circuit, a control sub-circuit, and a motor brake device; wherein: The first input terminal of the power supply circuit serves as the voltage input terminal of the dual-channel relay brake servo motor control system and is electrically connected to the voltage output terminal of the main power supply. The second input terminal of the power supply circuit is grounded and electrically connected to the ground terminal of the main power supply. The first output terminal of the power supply circuit is electrically connected to the first input terminal of the second relay sub-circuit. The second output terminal of the power supply circuit can be switched to be electrically connected to the input terminal of the first relay sub-circuit; The first ground terminal of the power supply circuit is electrically connected to the first ground terminal of the control sub-circuit. The second grounding terminal of the power supply circuit serves as the grounding terminal of the dual-channel relay brake servo motor control circuit. The first output terminal of the first relay sub-circuit is electrically connected to the output terminal of the control sub-circuit. The second output terminal of the first relay sub-circuit is electrically connected to the first input terminal of the control sub-circuit. The output terminal of the control sub-circuit is electrically connected to the second input terminal of the second relay sub-circuit. The first output terminal of the second relay sub-circuit serves as the voltage output terminal of the dual-channel relay brake servo motor control circuit and is electrically connected to the voltage input terminal of the motor brake device. The second output terminal of the second relay sub-circuit is grounded and electrically connected to the grounding terminal of the motor brake device.

[0015] In the above scheme, when the dual-channel relay brake servo motor control circuit is in normal state, the power supply circuit provides DC power to the control sub-circuit. The DC power is provided to the control sub-circuit through the first relay sub-circuit, and the control sub-circuit outputs a high-level signal. The second relay sub-circuit receives the DC power and outputs DC voltage through the voltage output terminal of the dual-channel relay brake servo motor control circuit. When the control subcircuit is in an abnormal state, it cannot output a high-level signal. At this time, the second relay also cannot normally receive DC power and output DC voltage through the voltage output terminal of the relay-driven brake servo motor control circuit. However, by simply changing the circuit state of the first relay subcircuit, DC power will flow back into the second relay subcircuit. After receiving DC power again, the second relay subcircuit can normally receive DC power and output DC voltage through the voltage output terminal of the relay-driven brake servo motor control circuit. This solution allows the second relay subcircuit to supply power normally even when the motor brake is locked, through simple and convenient operation. This solution effectively reduces maintenance difficulty and costs.

[0016] Furthermore, the power supply circuit includes: a dual-channel DC-DC converter and a first switch; wherein: The first input terminal of the dual-channel DC-DC converter is electrically connected to one end of the first switch, and the other end of the first switch serves as the first input terminal of the power supply circuit. The second input terminal of the dual-channel DC-DC converter serves as the second input terminal of the power supply circuit. The high-level output terminal of the dual-channel DC-DC converter serves as the first output terminal of the power supply circuit. The low-level output terminal of the dual-channel DC-DC converter serves as the second output terminal of the power supply circuit. The low-level ground terminal of the dual-channel DC-DC converter serves as the first ground terminal of the power supply circuit. The high-level ground terminal of the dual-channel DC-DC converter serves as the second ground terminal of the power supply circuit.

[0017] In the above scheme, the power supply circuit transmits and distributes power to the first relay sub-circuit, the second relay sub-circuit, and the control sub-circuit. The dual-channel DC-DC converter can convert a single DC voltage into two independent outputs simultaneously. It can also power the motor brake in case of an abnormality without the need for additional switching power supply combination, effectively saving costs and reducing wiring complexity.

[0018] Furthermore, the first relay sub-circuit includes: a first relay and a second switch; wherein: The first input terminal of the first relay is electrically connected to one end of the second switch, and the other end of the second switch is electrically connected to the second input terminal of the first relay. The switchable electrical connection between the first relay sub-circuit and the power supply circuit is achieved by the second switch; The first input terminal of the first relay serves as the input terminal of the first relay sub-circuit; The first output terminal of the first relay serves as the first output terminal of the first relay sub-circuit. The second output terminal of the first relay serves as the second output terminal of the first relay sub-circuit.

[0019] In the above scheme, when the control sub-circuit malfunctions and causes the motor device to lock up, the first relay can allow the current to continue to flow to the second relay in the second relay sub-circuit, causing the built-in switch in the second relay to close, at which time the motor brake device can release the brake.

[0020] Furthermore, the second relay sub-circuit includes: a second relay and a third switch; wherein: The first input terminal of the second relay serves as the first input terminal of the second relay sub-circuit. The second input terminal of the second relay serves as the second input terminal of the second relay sub-circuit. The first output terminal of the second relay serves as the first output terminal of the second relay sub-circuit. The second output terminal of the second relay is electrically connected to one end of the third switch, and the other end of the third switch serves as the second output terminal of the second relay sub-circuit.

[0021] Furthermore, the control sub-circuit includes: an IDU controller and a first diode; wherein: The first input terminal of the IDU controller serves as the first input terminal of the control sub-circuit. The second input terminal of the IDU controller serves as the second input terminal of the control sub-circuit. The first output terminal of the IDU controller is electrically connected to the positive terminal of the first diode, and the negative terminal of the first diode serves as the output terminal of the control sub-circuit.

[0022] In the above scheme, the IDU controller can control the closed state of the first switch, the second switch, and the third switch; through the unidirectional conduction characteristic of the first diode, the second switch can be effectively prevented from opening, the potential stability of the connection point between the first output terminal of the first relay and the second input terminal of the second relay can be stabilized, and the backflow of current to the IDU controller can be effectively prevented, thus preventing damage to the IDU controller. Attached Figure Description

[0023] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0024] Figure 1 This is a circuit diagram of a dual-channel relay brake servo motor control circuit provided in one embodiment of the present invention; Figure 2 This is a diagram of a dual-channel relay brake servo motor control system provided in one embodiment of this utility model. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0027] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0028] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0029] Please see Figure 1 This utility model provides a dual-channel relay brake servo motor control circuit, including: a power supply circuit, a first relay sub-circuit, a second relay sub-circuit, and a control sub-circuit; wherein: The first input terminal of the power supply circuit serves as the voltage input terminal of the dual-channel relay brake servo motor control circuit. The second input terminal of the power supply circuit is grounded; The first output terminal of the power supply circuit is electrically connected to the first input terminal of the second relay sub-circuit. The second output terminal of the power supply circuit can be switched to be electrically connected to the input terminal of the first relay sub-circuit; The first ground terminal of the power supply circuit is electrically connected to the first ground terminal of the control sub-circuit. The second grounding terminal of the power supply circuit serves as the grounding terminal of the dual-channel relay brake servo motor control circuit. The first output terminal of the first relay sub-circuit is electrically connected to the output terminal of the control sub-circuit. The second output terminal of the first relay sub-circuit is electrically connected to the first input terminal of the control sub-circuit. The output terminal of the control sub-circuit is electrically connected to the second input terminal of the second relay sub-circuit. The first output terminal of the second relay sub-circuit serves as the voltage output terminal of the dual-channel relay brake servo motor control circuit. The second output terminal of the second relay sub-circuit is grounded.

[0030] In this embodiment, when the dual-channel relay brake servo motor control circuit is in normal condition, the power supply circuit provides DC power to the control sub-circuit. This DC power is provided to the control sub-circuit through the first relay sub-circuit, and the control sub-circuit outputs a high-level signal. The second relay sub-circuit receives the DC power and outputs DC voltage through the voltage output terminal of the dual-channel relay brake servo motor control circuit. When the control subcircuit is in an abnormal state, it cannot output a high-level signal. At this time, the second relay also cannot normally receive DC power and output DC voltage through the voltage output terminal of the relay-driven brake servo motor control circuit. However, by simply changing the circuit state of the first relay subcircuit, DC power will flow back into the second relay subcircuit. After receiving DC power again, the second relay subcircuit can normally receive DC power and output DC voltage through the voltage output terminal of the relay-driven brake servo motor control circuit. This solution allows the second relay subcircuit to supply power normally even when the motor brake is locked, through simple and convenient operation. This solution effectively reduces maintenance difficulty and costs.

[0031] In one embodiment, the power supply circuit includes: a dual-channel DC-DC converter and a first switch; wherein: The first input terminal of the dual-channel DC-DC converter is electrically connected to one end of the first switch, and the other end of the first switch serves as the first input terminal of the power supply circuit. The second input terminal of the dual-channel DC-DC converter serves as the second input terminal of the power supply circuit. The high-level output terminal of the dual-channel DC-DC converter serves as the first output terminal of the power supply circuit. The low-level output terminal of the dual-channel DC-DC converter serves as the second output terminal of the power supply circuit. The low-level ground terminal of the dual-channel DC-DC converter serves as the first ground terminal of the power supply circuit. The high-level ground terminal of the dual-channel DC-DC converter serves as the second ground terminal of the power supply circuit.

[0032] In this embodiment, the power supply circuit transmits and distributes power to the first relay sub-circuit, the second relay sub-circuit, and the control sub-circuit. The dual-channel DC-DC converter can convert a single DC voltage into two independent outputs simultaneously. It can also power the motor brake in case of an abnormality without the need for additional switching power supply combinations, effectively saving costs and reducing wiring complexity.

[0033] In one embodiment, the first relay sub-circuit includes: a first relay and a second switch; wherein: The first input terminal of the first relay is electrically connected to one end of the second switch, and the other end of the second switch is electrically connected to the second input terminal of the first relay. The switchable electrical connection between the first relay sub-circuit and the power supply circuit is achieved by the second switch; The first input terminal of the first relay serves as the input terminal of the first relay sub-circuit; The first output terminal of the first relay serves as the first output terminal of the first relay sub-circuit. The second output terminal of the first relay serves as the second output terminal of the first relay sub-circuit.

[0034] In this embodiment, when the control sub-circuit malfunctions and causes the motor device to lock up, the first relay allows current to continue flowing to the second relay in the second relay sub-circuit, causing the built-in switch in the second relay to close, at which point the motor brake device can release the brake.

[0035] In one embodiment, the second relay sub-circuit includes: a second relay and a third switch; wherein: The first input terminal of the second relay serves as the first input terminal of the second relay sub-circuit. The second input terminal of the second relay serves as the second input terminal of the second relay sub-circuit. The first output terminal of the second relay serves as the first output terminal of the second relay sub-circuit. The second output terminal of the second relay is electrically connected to one end of the third switch, and the other end of the third switch serves as the second output terminal of the second relay sub-circuit.

[0036] In one embodiment, the control sub-circuit includes: an IDU controller and a first diode; wherein: The first input terminal of the IDU controller serves as the first input terminal of the control sub-circuit. The second input terminal of the IDU controller serves as the second input terminal of the control sub-circuit. The first output terminal of the IDU controller is electrically connected to the positive terminal of the first diode, and the negative terminal of the first diode serves as the output terminal of the control sub-circuit.

[0037] In this embodiment, the IDU controller can control the closed states of the first switch, the second switch, and the third switch. The unidirectional conduction characteristic of the first diode effectively prevents the second switch from opening, stabilizes the potential stability of the connection point between the first output terminal of the first relay and the second input terminal of the second relay, and effectively prevents current backflow into the IDU controller, thus preventing damage to the IDU controller.

[0038] Please see Figure 2 This utility model also provides a dual-channel relay brake servo motor control system, including: a main power supply, an electronic power supply circuit, a first relay sub-circuit, a second relay sub-circuit, a control sub-circuit, and a motor brake device; wherein: The first input terminal of the power supply circuit serves as the voltage input terminal of the dual-channel relay brake servo motor control system and is electrically connected to the voltage output terminal of the main power supply. The second input terminal of the power supply circuit is grounded and electrically connected to the ground terminal of the main power supply. The first output terminal of the power supply circuit is electrically connected to the first input terminal of the second relay sub-circuit. The second output terminal of the power supply circuit can be switched to be electrically connected to the input terminal of the first relay sub-circuit; The first ground terminal of the power supply circuit is electrically connected to the first ground terminal of the control sub-circuit. The second grounding terminal of the power supply circuit serves as the grounding terminal of the dual-channel relay brake servo motor control circuit. The first output terminal of the first relay sub-circuit is electrically connected to the output terminal of the control sub-circuit. The second output terminal of the first relay sub-circuit is electrically connected to the first input terminal of the control sub-circuit. The output terminal of the control sub-circuit is electrically connected to the second input terminal of the second relay sub-circuit. The first output terminal of the second relay sub-circuit serves as the voltage output terminal of the dual-channel relay brake servo motor control circuit and is electrically connected to the voltage input terminal of the motor brake device. The second output terminal of the second relay sub-circuit is grounded and electrically connected to the grounding terminal of the motor brake device.

[0039] In this embodiment, the power supply circuit transmits and distributes power to the first relay sub-circuit, the second relay sub-circuit, and the control sub-circuit. The total power supply is preferably a 48V DC power supply. The first relay sub-circuit and the control sub-circuit enable the controller to be powered down, thereby releasing the motor brake. The motor brake power supply device releases the brake when powered by a 24V DC power supply, and locks it otherwise. Furthermore, the control sub-circuit prevents backflow of current, effectively protecting the dual-channel relay brake servo motor control circuit, reducing maintenance difficulty and costs.

[0040] In one embodiment, the power supply circuit includes: a dual-channel DC-DC converter and a first switch; wherein: The first input terminal of the dual-channel DC-DC converter is electrically connected to one end of the first switch, and the other end of the first switch serves as the first input terminal of the power supply circuit. The second input terminal of the dual-channel DC-DC converter serves as the second input terminal of the power supply circuit. The high-level output terminal of the dual-channel DC-DC converter serves as the first output terminal of the power supply circuit. The low-level output terminal of the dual-channel DC-DC converter serves as the second output terminal of the power supply circuit. The low-level ground terminal of the dual-channel DC-DC converter serves as the first ground terminal of the power supply circuit. The high-level ground terminal of the dual-channel DC-DC converter serves as the second ground terminal of the power supply circuit.

[0041] In this embodiment, the power supply circuit transmits and distributes power to the first relay sub-circuit, the second relay sub-circuit, and the control sub-circuit. The dual-channel DC-DC converter can simultaneously convert a single DC voltage into two independent outputs. Preferably, the 48V DC power supply is converted into a 24V DC power output terminal, a 24V ground terminal, a 12V DC power output terminal, and a 12V ground terminal. The 24V DC power output terminal serves as the high-level output terminal of the dual-channel DC-DC converter, and the 24V ground terminal serves as the high-level ground terminal. The 12V DC power output terminal serves as the low-level output terminal of the dual-channel DC-DC converter, and the 12V ground terminal serves as the low-level ground terminal. Through this embodiment, the controller can supply power to the motor brake in case of abnormalities without requiring additional switching power supply combinations, effectively saving costs and reducing wiring complexity.

[0042] In one embodiment, the first relay sub-circuit includes: a first relay and a second switch; wherein: The first input terminal of the first relay is electrically connected to one end of the second switch, and the other end of the second switch is electrically connected to the second input terminal of the first relay. The switchable electrical connection between the first relay sub-circuit and the power supply circuit is achieved by the second switch; The first input terminal of the first relay serves as the input terminal of the first relay sub-circuit; The first output terminal of the first relay serves as the first output terminal of the first relay sub-circuit. The second output terminal of the first relay serves as the second output terminal of the first relay sub-circuit.

[0043] In this embodiment, when the control sub-circuit malfunctions and causes the motor device to lock up, the first relay allows current to continue flowing to the second relay in the second relay sub-circuit, causing the built-in switch in the second relay to close, at which point the motor brake device can release the brake.

[0044] In one embodiment, the second relay sub-circuit includes: a second relay and a third switch; wherein: The first input terminal of the second relay serves as the first input terminal of the second relay sub-circuit. The second input terminal of the second relay serves as the second input terminal of the second relay sub-circuit. The first output terminal of the second relay serves as the first output terminal of the second relay sub-circuit. The second output terminal of the second relay is electrically connected to one end of the third switch, and the other end of the third switch serves as the second output terminal of the second relay sub-circuit.

[0045] In this embodiment, the first output terminal of the second relay is electrically connected to one port of the motor brake device to provide a preferred 24V high-level voltage input to the motor brake device. The other port of the motor brake device is a 24V high-level ground terminal, which is electrically connected to the high-level ground terminal of the power supply circuit. The second relay can effectively control the locking and unlocking of the motor brake device.

[0046] In one embodiment, the control sub-circuit includes: an IDU controller and a first diode; wherein: The first input terminal of the IDU controller serves as the first input terminal of the control sub-circuit. The second input terminal of the IDU controller serves as the second input terminal of the control sub-circuit. The first output terminal of the IDU controller is electrically connected to the positive terminal of the first diode, and the negative terminal of the first diode serves as the output terminal of the control sub-circuit.

[0047] In this embodiment, the IDU controller can control the closed state of the first switch, the second switch, and the third switch; the unidirectional conduction characteristic of the first diode can effectively prevent the second switch from opening, stabilize the potential stability of the connection point between the first output terminal of the first relay and the second input terminal of the second relay, and effectively prevent current backflow into the IDU controller, which could damage the IDU controller. Furthermore, when the dual-channel relay brake servo motor control circuit is in normal operation, the first switch, the second switch, and the third switch are closed. The main power supply provides a preferred 12V DC power supply to the IDU controller and a preferred 24V DC power supply to the motor brake device via a dual-channel DC converter.

[0048] When the IDU controller is in normal state, it will output a high-level signal, the internal coil of the second relay will be turned on, and its two contacts will be closed. The motor brake device will receive 24V DC power and be in the brake release state. At this time, the first relay is in the normally closed state. If the second switch is in the closed state, the internal coil of the first relay will be turned on, and its two contacts will be opened. The power required by the IDU controller will be provided by the first relay. When the IDU controller is in an abnormal state, it will be unable to output a high-level signal. The internal coil of the second relay will be disconnected, and its two contacts will be disconnected. The motor brake will not be able to receive 24V DC power normally and will therefore be in a locked state. At this time, if the second switch is turned off, the first relay will return to its normally closed state, and DC power will flow back into the internal coil of the second relay. The second relay will be re-energized, causing its internal switch to close. The motor brake device will then receive 24V DC power and release the brake.

[0049] The above description is the preferred embodiment of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this utility model, and these improvements and modifications are also considered to be within the protection scope of this utility model.

Claims

1. A dual-channel relay brake servo motor control circuit, characterized in that, include: The circuit includes an electronic circuit, a first relay sub-circuit, a second relay sub-circuit, and a control sub-circuit; wherein: The first input terminal of the power supply circuit serves as the voltage input terminal of the dual-channel relay brake servo motor control circuit. The second input terminal of the power supply circuit is grounded; The first output terminal of the power supply circuit is electrically connected to the first input terminal of the second relay sub-circuit. The second output terminal of the power supply circuit can be switched to be electrically connected to the input terminal of the first relay sub-circuit; The first ground terminal of the power supply circuit is electrically connected to the first ground terminal of the control sub-circuit. The second grounding terminal of the power supply circuit serves as the grounding terminal of the dual-channel relay brake servo motor control circuit. The first output terminal of the first relay sub-circuit is electrically connected to the output terminal of the control sub-circuit. The second output terminal of the first relay sub-circuit is electrically connected to the first input terminal of the control sub-circuit. The output terminal of the control sub-circuit is electrically connected to the second input terminal of the second relay sub-circuit. The first output terminal of the second relay sub-circuit serves as the voltage output terminal of the dual-channel relay brake servo motor control circuit. The second output terminal of the second relay sub-circuit is grounded.

2. The dual-channel relay brake servo motor control circuit according to claim 1, characterized in that, The power supply circuit includes: a dual-channel DC-DC converter and a first switch; wherein: The first input terminal of the dual-channel DC-DC converter is electrically connected to one end of the first switch, and the other end of the first switch serves as the first input terminal of the power supply circuit. The second input terminal of the dual-channel DC-DC converter serves as the second input terminal of the power supply circuit. The high-level output terminal of the dual-channel DC-DC converter serves as the first output terminal of the power supply circuit. The low-level output terminal of the dual-channel DC-DC converter serves as the second output terminal of the power supply circuit. The low-level ground terminal of the dual-channel DC-DC converter serves as the first ground terminal of the power supply circuit. The high-level ground terminal of the dual-channel DC-DC converter serves as the second ground terminal of the power supply circuit.

3. The dual-channel relay brake servo motor control circuit according to claim 1, characterized in that, The first relay sub-circuit includes: a first relay and a second switch; wherein: The first input terminal of the first relay is electrically connected to one end of the second switch, and the other end of the second switch is electrically connected to the second input terminal of the first relay. The switchable electrical connection between the first relay sub-circuit and the power supply circuit is achieved by the second switch; The first input terminal of the first relay serves as the input terminal of the first relay sub-circuit; The first output terminal of the first relay serves as the first output terminal of the first relay sub-circuit. The second output terminal of the first relay serves as the second output terminal of the first relay sub-circuit.

4. The dual-channel relay brake servo motor control circuit according to claim 1, characterized in that, The second relay sub-circuit includes: a second relay and a third switch; wherein: The first input terminal of the second relay serves as the first input terminal of the second relay sub-circuit. The second input terminal of the second relay serves as the second input terminal of the second relay sub-circuit. The first output terminal of the second relay serves as the first output terminal of the second relay sub-circuit. The second output terminal of the second relay is electrically connected to one end of the third switch, and the other end of the third switch serves as the second output terminal of the second relay sub-circuit.

5. The dual-channel relay brake servo motor control circuit according to claim 1, characterized in that, The control sub-circuit includes: an IDU controller and a first diode; wherein: The first input terminal of the IDU controller serves as the first input terminal of the control sub-circuit. The second input terminal of the IDU controller serves as the second input terminal of the control sub-circuit. The first output terminal of the IDU controller is electrically connected to the positive terminal of the first diode, and the negative terminal of the first diode serves as the output terminal of the control sub-circuit.

6. A dual-channel relay brake servo motor control system, characterized in that, Includes a dual-channel relay brake servo motor control circuit, a main power supply, and a motor brake device as described in any one of claims 1 to 5; wherein: The first input terminal of the power supply circuit serves as the voltage input terminal of the dual-channel relay brake servo motor control system and is electrically connected to the voltage output terminal of the main power supply. The second input terminal of the power supply circuit is grounded and electrically connected to the ground terminal of the main power supply. The first output terminal of the power supply circuit is electrically connected to the first input terminal of the second relay sub-circuit. The second output terminal of the power supply circuit can be switched to be electrically connected to the input terminal of the first relay sub-circuit; The first ground terminal of the power supply circuit is electrically connected to the first ground terminal of the control sub-circuit. The second grounding terminal of the power supply circuit serves as the grounding terminal of the dual-channel relay brake servo motor control circuit. The first output terminal of the first relay sub-circuit is electrically connected to the output terminal of the control sub-circuit. The second output terminal of the first relay sub-circuit is electrically connected to the first input terminal of the control sub-circuit. The output terminal of the control sub-circuit is electrically connected to the second input terminal of the second relay sub-circuit. The first output terminal of the second relay sub-circuit serves as the voltage output terminal of the dual-channel relay brake servo motor control circuit and is electrically connected to the voltage input terminal of the motor brake device. The second output terminal of the second relay sub-circuit is grounded and electrically connected to the grounding terminal of the motor brake device.

7. A dual-channel relay brake servo motor control system according to claim 6, characterized in that, The power supply circuit includes: a dual-channel DC-DC converter and a first switch; wherein: The first input terminal of the dual-channel DC-DC converter is electrically connected to one end of the first switch, and the other end of the first switch serves as the first input terminal of the power supply circuit. The second input terminal of the dual-channel DC-DC converter serves as the second input terminal of the power supply circuit. The high-level output terminal of the dual-channel DC-DC converter serves as the first output terminal of the power supply circuit. The low-level output terminal of the dual-channel DC-DC converter serves as the second output terminal of the power supply circuit. The low-level ground terminal of the dual-channel DC-DC converter serves as the first ground terminal of the power supply circuit. The high-level ground terminal of the dual-channel DC-DC converter serves as the second ground terminal of the power supply circuit.

8. A dual-channel relay brake servo motor control system according to claim 6, characterized in that, The first relay sub-circuit includes: a first relay and a second switch; wherein: The first input terminal of the first relay is electrically connected to one end of the second switch, and the other end of the second switch is electrically connected to the second input terminal of the first relay. The switchable electrical connection between the first relay sub-circuit and the power supply circuit is achieved by the second switch; The first input terminal of the first relay serves as the input terminal of the first relay sub-circuit; The first output terminal of the first relay serves as the first output terminal of the first relay sub-circuit. The second output terminal of the first relay serves as the second output terminal of the first relay sub-circuit.

9. A dual-channel relay brake servo motor control system according to claim 6, characterized in that, The second relay sub-circuit includes: a second relay and a third switch; wherein: The first input terminal of the second relay serves as the first input terminal of the second relay sub-circuit. The second input terminal of the second relay serves as the second input terminal of the second relay sub-circuit. The first output terminal of the second relay serves as the first output terminal of the second relay sub-circuit. The second output terminal of the second relay is electrically connected to one end of the third switch, and the other end of the third switch serves as the second output terminal of the second relay sub-circuit.

10. A dual-channel relay brake servo motor control system according to claim 6, characterized in that, The control sub-circuit includes: an IDU controller and a first diode; wherein: The first input terminal of the IDU controller serves as the first input terminal of the control sub-circuit. The second input terminal of the IDU controller serves as the second input terminal of the control sub-circuit. The first output terminal of the IDU controller is electrically connected to the positive terminal of the first diode, and the negative terminal of the first diode serves as the output terminal of the control sub-circuit.

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