Robot disengagement brake device and robot

Abstract

The application provides a robot disengaging device and a robot. The robot disengaging device comprises a first switch module, a second switch module, a first interface chip and a second interface chip. The first switch module outputs a first electric signal in response to receiving a disengaging control signal. The second switch module outputs a disengaging signal when receiving the first electric signal. The first interface chip is used to output the disengaging signal to a motor. The second interface chip is connected to an external power supply and a power supply transmission route of the disengaging device. The power supply transmission route is also connected to an internal power supply of the robot. The disengaging device can solve the problem that the robot is difficult to move to a specific maintenance area for maintenance when the robot fails.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and more particularly to a brake release device for a robot and the robot itself. Background Technology

[0002] With robots widely used in logistics and other fields, their safety and maintainability are two crucial aspects. Safety features are key characteristics of industrial logistics robots. When a robot malfunctions or breaks down, to prevent damage to itself and personal injury to users, the common practice is to restrict the robot's movement and prompt professional personnel to conduct inspection and maintenance.

[0003] To facilitate maintenance by professionals when robots malfunction, a process requires specialized technicians to identify the problem, remove the restrictions on the robot's movement (meaning the robot is no longer capable of normal operation), and then manually move the robot to a designated maintenance area. This process is not only labor-intensive and time-consuming, but also extremely difficult to handle, especially for large and heavy industrial logistics robots, and carries significant safety risks. For example, the handling process could lead to further damage to the robot or accidental injury to the operator. Utility Model Content

[0004] The main purpose of this application is to provide a brake release device for a robot and a robot in order to solve the problem that it is difficult to move the robot to a specific maintenance area for maintenance when the robot malfunctions.

[0005] In a first aspect, this application provides a brake release device for a robot, the robot including a motor, the brake release device being configured to control the release of the motor's brake; when the motor is braked, the robot's movement is restricted, and when the motor is braked, the restriction on the robot's movement is released; The brake release device includes: The first switch module, in response to receiving the release brake control signal, outputs a first electrical signal; The second switch module is connected to the first switch module. When the second switch module receives the first electrical signal, it outputs a release brake signal. The first interface chip includes a first port group and a second port group. The first port group is connected to the second switch module, and the second port group is connected to the motor. The second port group is used to output the release brake signal to the motor. The second interface chip includes a third port group and a fourth port group. The third port group is used to connect to an external power source, and the fourth port group is connected to the power supply transmission line of the release brake device. The power supply transmission line is also connected to the internal power source of the robot.

[0006] Secondly, embodiments of this application also provide a robot, including at least one motor and at least one release brake device for the robot as described in embodiments of this application, wherein the motor and the release brake device of the robot are connected in a one-to-one correspondence.

[0007] This application provides a brake release device and a robot. The brake release device, in response to receiving a brake release control signal, outputs a brake release signal to the motor, thereby controlling the motor to release the brake. Therefore, when the robot's movement is restricted due to motor brake engagement, the device can control the motor to release the brake, thus removing the restriction on the robot's movement. The robot can then move autonomously to a certain extent or, under the guidance of professionals, to the maintenance area, avoiding the tediousness and risks of manual handling, saving time and effort. Thus, it solves the problem of difficulty in moving a robot to a specific maintenance area when it malfunctions. Furthermore, the brake release device can use a dual power supply mode, either internal or external. For example, it can use the internal power supply when the robot is powered on and the external power supply when the robot is powered off. This ensures the robot has sufficient power to move to the maintenance area, avoiding the inconvenience of manual handling and reducing maintenance interruptions due to power issues, thereby improving maintenance efficiency. Attached Figure Description

[0008] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0009] Figure 1 A schematic block diagram of the structure of a robot provided in an embodiment of this application; Figure 2 A circuit diagram of a robot's brake release device provided in an embodiment of this application; Figure 3 A circuit diagram of the first switch module provided in an embodiment of this application; Figure 4 A circuit diagram of the second switch module provided in an embodiment of this application; Figure 5 A circuit diagram of a signal output module provided in an embodiment of this application; Figure 6 A circuit diagram of the first interface chip provided in an embodiment of this application; Figure 7 A circuit diagram of the second interface chip provided in an embodiment of this application; Figure 8 and Figure 9A schematic diagram of the power supply transmission route for the brake release device provided in the embodiments of this application; Figure 10 A schematic block diagram of a robot provided in an embodiment of this application.

[0010] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0011] It should be noted that the terms "first" and "second" in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0012] It should also be noted that the methods disclosed in the embodiments of this application or the methods shown in the flowcharts include one or more steps for implementing the method. Without departing from the scope of the claims, the execution order of multiple steps can be interchanged, and some steps can also be deleted.

[0013] In the field of industrial logistics robots, safe operation and convenient maintenance are two crucial aspects. When a robot malfunctions or breaks down, to prevent damage to the robot itself or personal injury to the user due to loss of control, its movement functions are usually restricted, and professionals are notified to conduct inspection and maintenance.

[0014] Traditional robot maintenance methods have significant drawbacks. Firstly, on-site inspections often involve complex environments and a lack of suitable tools and conditions, hindering in-depth troubleshooting and repair of robot malfunctions. Secondly, manually moving robots to specific maintenance areas is not only labor-intensive and time-consuming, but also extremely difficult for large and heavy industrial logistics robots, posing significant safety risks such as further damage to the robot or accidental injury to operators. Furthermore, moving robots to specific maintenance areas disrupts normal logistics operations and reduces efficiency.

[0015] Based on this, this application provides a robot unbrake device and a robot. Compared to traditional on-site inspection and transportation to a specific maintenance area, this unbrake device allows professionals to more easily move the robot to the specific maintenance area. When the robot malfunctions and its movement is restricted, professionals can use the unbrake device to release the movement restriction, allowing the robot to move autonomously to a certain extent or be guided by professionals to the maintenance area, avoiding the tediousness and risks of manual handling, saving time and effort.

[0016] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0017] Please see Figure 1 , Figure 1 This is a schematic block diagram of the structure of a robot provided for an embodiment of this application.

[0018] like Figure 1 As shown, the robot includes an internal power supply, motors, drive components, and a brake release device. The internal power supply is configured to power the motors and the brake release device. The brake release device is configured to control the motors' braking and de-braking. The motors control the robot's drive components, and the robot moves in response to the movements of the drive components, such as shifting or changing posture. When the motors are braked, the drive components cannot operate normally; when the motors are de-braked, the drive components can operate normally. Therefore, when the motors are braked, the robot's movement is restricted; when the motors are de-braked, the restriction on the robot's movement is lifted.

[0019] When a robot malfunctions and its movement is restricted, such as when a motor brake malfunctions and restricts movement, the brake release device can output a release signal to the motor, thereby controlling the motor to release the brake and thus removing the movement restriction. Therefore, the robot can move autonomously to a certain extent or, under the guidance of professionals, to the maintenance area, thus solving the problem of difficulty in moving a malfunctioning robot to a specific maintenance area for repair.

[0020] Please see Figure 2 , Figure 2 A circuit diagram of a robot's brake release device provided in an embodiment of this application.

[0021] like Figure 2 As shown, the robot's brake release device 100 includes a first switch module 110, a second switch module 120, a first interface chip 130, and a second interface chip 140.

[0022] The first switch module 110, in response to receiving the release brake control signal V1, outputs a first electrical signal Vr. The second switch module 120 is connected to the first switch module 110, and upon receiving the first electrical signal Vr, the second switch module 120 outputs a release brake signal V2. The first interface chip 130 includes a first port group and a second port group. The first port group is connected to the second switch module 120, and the second port group is connected to the motor; the second port group is used to output the release brake signal V2 to the motor. The second interface chip 140 includes a third port group and a fourth port group. The third port group is used to connect to an external power supply, and the fourth port group is connected to the power supply transmission line of the release brake device, which is also connected to the robot's internal power supply.

[0023] It should be noted that the core function of the release brake device 100 is to control the release brake of the motor, thereby removing the robot's movement restrictions. Once a professional technician confirms the robot's problem, a release brake control signal V1 will be issued. The first switch module 110 serves as a signal receiver and performs preliminary processing, recognizing the release brake control signal V1 and converting it into a first electrical signal Vr suitable for subsequent module processing. The second switch module 120 further converts and amplifies the signal, transforming the first electrical signal Vr into a release brake signal V2 that can directly act on the motor. When the second switch module 120 outputs the release brake signal V2, this signal can be transmitted through the first port group of the first interface chip 130 to the inside of the first interface chip 130, and then through the second port group to the motor, thus achieving release brake control of the motor. The second interface chip 140 provides dual power supply protection (power supply lines not shown). When the internal power supply is normal, the release brake device 100 can obtain power from the internal power supply. When the internal power supply fails or the power is insufficient, the external power supply connected to the third port group can supply power to the release brake device 100, ensuring that the release brake device 100 can work normally under any circumstances and reliably output the release brake signal V2.

[0024] For example, the second interface chip 140 may be a TYPE-C interface, which can be connected to a power bank supporting the PD3.0 protocol for power supply. This allows the use of either the robot's internal power supply or an external power bank to control the release of the motor's brakes. Furthermore, the second interface chip 140 can also be powered by a custom-designed non-standard USB cable when the external power supply does not conform to the PD protocol.

[0025] For example, the release brake device 100 can distinguish between two usage scenarios: Scenario 1: When the robot is not powered off, by switching to maintenance mode, the robot can be controlled by the controller to control the motor brake, or by the robot's internal power supply, to forcibly release the robot's movement restriction function. Scenario 2: When the robot is powered off, 24V is input through the external reserved interface (such as the third port group) of the second interface chip 140 to release the robot's movement restriction function.

[0026] In some cases, when technicians need to repair a malfunctioning robot, they need to release the robot's movement restrictions, i.e., release the motor's brakes. Traditional brake release methods can have many inconveniences and limitations. For example, they may lack an independent and reliable brake release control mechanism, resulting in inflexible brake release operations and difficulty in precise control based on actual conditions. Moreover, in terms of power supply, there may be no reasonable power switching and backup mechanism. When the internal power supply fails, it is impossible to use external power to complete critical operations such as brake release in a timely manner, affecting the robot's maintenance efficiency and safety.

[0027] In this embodiment, through the coordinated operation of the first switch module 110 and the second switch module 120, a precise release brake signal V2 can be output according to the operation of professional technicians, achieving flexible control of motor release brake. Professional personnel can, based on the actual situation and after confirming the robot problem, issue a targeted release brake control signal V1, avoiding unnecessary release brake operations and improving the accuracy and safety of the operation. The dual power supply connection design of the second interface chip 140 provides reliable power supply for the release brake device 100. Whether the internal power supply is normal or faulty, the release brake device 100 can operate normally, ensuring that when release brake operations are required on the robot, they will not be unable to be performed due to power supply problems, thus improving the reliability and stability of the entire maintenance process.

[0028] Furthermore, the release brake device 100 can quickly and accurately control the release of the motor's brake, allowing the robot to be easily moved to the maintenance area for repair by professionals after its movement restrictions are lifted. Compared to the traditional method of manually moving the robot to the maintenance area, this significantly saves time and labor costs, improves robot maintenance efficiency, and reduces the risk of further damage to the robot during manual handling. Therefore, it solves the problem of difficulty in moving a robot to a specific maintenance area when it malfunctions, and also addresses the issue of low robot maintenance efficiency.

[0029] Understandably, the brake release device 100 has only two interface chips (first interface chip 130 and second interface chip 140), making it simple and easy to use. Its small size also facilitates integration into the robot. Furthermore, multiple brake release devices 100 can be connected in parallel for simultaneous use, allowing users to select the number of brake release devices based on the number of motors inside the robot.

[0030] In one embodiment, please refer to Figure 3 , Figure 3 This is a circuit diagram of a first switching module provided in an embodiment of this application. Figure 3As shown, the first switch module 110 includes a first switch transistor Q22 and a second switch transistor Q20. The first terminal of the first switch transistor Q22 receives the release brake control signal V1, the second terminal of the first switch transistor Q22 is grounded, and the third terminal of the first switch transistor Q22 is connected to the first terminal of the second switch transistor Q20. The second terminal of the second switch transistor Q20 is connected to the power supply transmission line (receiving voltage VCC), and the third terminal of the second switch transistor Q20 is used to output a first electrical signal Vr.

[0031] It should be noted that the release brake control signal V1 can be issued by a professional technician to trigger subsequent release brake operations. When the release brake control signal V1 arrives, the first switch Q22 can respond to the signal according to its own characteristics. The second terminal of the first switch Q22 is grounded, which provides it with a stable potential reference point, ensuring that the switch can work normally. When the release brake control signal V1 meets the conduction condition of the first switch Q22, the first switch Q22 conducts, and current can flow from its first terminal through the switch to its second terminal (grounded terminal). The second terminal of the second switch Q20 is connected to the power supply transmission line, which provides power support for the entire release brake device 100. The power supply transmission line is associated with the robot's internal power supply and any external power supply that may be connected. When the first switch Q22 conducts, a corresponding electrical signal change is generated on the second switch Q20, causing the second switch Q20 to output the first electrical signal Vr.

[0032] Understandably, the first switch Q22 can perform preliminary screening and conversion on the original brake release control signal V1, removing some possible interference signals and allowing only valid control signals to pass. The second switch Q20 further processes and amplifies the signal, outputting a stable and reliable first electrical signal Vr. This cascaded design is more effective than a single switch directly processing the brake release control signal V1, improving the response accuracy and reliability of the entire brake release device 100 to control signals.

[0033] In one embodiment, the first switching module 110 further includes a first filtering unit and a second filtering unit. The first filtering unit is connected between the first terminal and the second terminal of the first switching transistor Q22, and the second filtering unit is connected between the first terminal and the second terminal of the second switching transistor Q20.

[0034] For example, such as Figure 3 As shown, the first filter unit may include resistor R210, capacitor C158, and resistor R208. The second filter unit may include resistor R215 and capacitor C159. In some examples, the first switching module 110 may also include current-limiting resistors R209 and R217, which are respectively connected to the first terminals of the first switching transistor Q22 and the second switching transistor Q20.

[0035] It should be noted that the release brake control signal V1 is often subject to external interference during actual transmission, including various high-frequency noise, clutter, and other unstable factors. These interference signals may affect the accurate identification and response of the first switch Q22 to the release brake control signal V1, causing the switch to fail to conduct or cut off as expected. The main function of the first filtering unit is to filter these interference signals. The first filtering unit can be composed of electronic components such as capacitors and inductors, utilizing the characteristics of these components to filter signals of different frequencies. Through the filtering effect of the first filtering unit, the release brake control signal V1 received by the first switch Q22 becomes purer and more stable, improving the accuracy of signal processing by the first switch Q22. The function of the second switch Q20 is to output the release brake signal V2 after receiving the first electrical signal Vr. The first electrical signal Vr is transmitted from the first switch Q22, and its quality also affects the normal operation of the second switch Q20. Although the first filtering unit performs preliminary filtering on the release brake control signal V1, new interference may still be introduced during signal transmission, or the first switching transistor Q22 itself may generate some internal interference signals during operation. The second filtering unit similarly utilizes the characteristics of components such as capacitors and inductors to filter the signal between the first and second terminals of the second switching transistor Q20. This further removes potential interference signals, ensuring that the signal transmitted to the second switching transistor Q20 is clean and stable. In this way, the second switching transistor Q20 can more accurately output the required release brake signal V2 based on the input signal, avoiding abnormalities in the release brake signal V2 caused by interference signals, thus preventing any impact on the motor's release brake operation.

[0036] Understandably, because the filtering unit improves signal quality and system stability, the first switch module 110 can more accurately process the brake release control signal V1 and output an accurate brake release signal V2. This directly improves the accuracy of the motor brake release operation, ensuring that the robot can release its movement restrictions as expected after a professional technician issues a brake release command, facilitating subsequent maintenance work. At the same time, accurate brake release operation also reduces the risk of damage to the robot motor and the overall system due to improper operation.

[0037] In one embodiment, please refer to Figure 4 , Figure 4 This is a circuit diagram of a second switching module provided in an embodiment of this application. Figure 4As shown, the second switch module 120 includes a relay unit RELAY2, which includes a coil and a contact system. The contact system includes a common contact, normally open contacts, and normally closed contacts. The first end of the coil (e.g., contact 1) is used to receive a first electrical signal Vr, and the second end of the coil (e.g., contact 2) is used for grounding. The coil is energized when it receives the first electrical signal Vr. The common contacts (e.g., contacts 4 and 9) and normally closed contacts (e.g., contacts 3 and 10) are connected to different ports of the first port group, respectively. The normally open contacts (e.g., contacts 5 and 8) are connected to the power supply transmission line. When the coil is energized, the common contact connects to the normally open contact.

[0038] The coil is the control part of the relay unit RELAY2. When current flows through the coil, it generates electromagnetic force. The contact system is the execution part of the relay unit RELAY2, responsible for controlling the circuit's on / off state. When the coil receives the first electrical signal Vr and generates sufficient electromagnetic force, the coil will engage. The coil engagement connects the common contact with the normally open contact and disconnects it from the normally closed contact. Since the normally open contact is connected to the power supply line, when the common contact connects with the normally open contact, the power from the power supply line can be transmitted to subsequent circuits through the common contact and the normally open contact, thus providing power for the subsequent release signal. Figure 4 It provides power support for operations such as RM1+ output.

[0039] It should be noted that the contact system design of the RELAY2 relay unit (including common contacts, normally open contacts, and normally closed contacts) provides flexible circuit connection and expansion methods. The common contact can be connected to different contacts (normally open or normally closed contacts) to achieve different circuit functions. For example, connecting the normally open contact to the power transmission line enables the function of providing power to subsequent circuits upon receiving the first electrical signal Vr. This flexible contact design also facilitates subsequent system expansion and functional upgrades, such as connecting more circuits or devices as needed. The release brake control signal V1 controls the relay coil to engage, thereby controlling the robot's motor to perform the release brake action.

[0040] For example, when the power supply is normal, it powers the relay, and the release brake control signal V1 controls the relay coil to engage. When the coil is not engaged, the relay common contact is connected to the normally closed contact (RM1+ to RK1+, RM1- to RK1-). At this time, the output motor brake signal controls the motor to perform the brake action, and the motor cannot rotate. When the relay coil is engaged, the relay common contact is connected to the normally open contact (RM1+ to VCC, RM1- to GND). At this time, the output motor release brake signal controls the motor to perform the release brake action, and the motor can rotate.

[0041] In one embodiment, the second switching module 120 further includes a voltage regulator unit connected between the first and second ends of the coil. The voltage regulator unit includes a capacitor, a bidirectional diode, and a unidirectional diode connected in parallel. The cathode of the unidirectional diode is connected to the first end of the coil, and the anode of the unidirectional diode is connected to the second end of the coil.

[0042] For example, such as Figure 4 As shown, the voltage regulator unit includes a capacitor C2, a bidirectional diode D11, and a unidirectional diode D2 connected in parallel. In some examples, the second switching module 120 may also include a current-limiting resistor R2 connected to the first end of the coil.

[0043] The voltage regulator unit is connected between the first and second terminals of the coil. Its main function is to provide a stable operating voltage to the coil, ensuring its proper engagement and protecting it from voltage fluctuations, surges, and other unstable factors. Through the coordinated action of its components, the voltage regulator unit provides a stable operating voltage to the coil, ensuring reliable engagement. This stable voltage stabilizes the electromagnetic force generated by the coil, guaranteeing accurate connection between the common contact and the normally open contact. This provides a reliable guarantee for the subsequent release signal V2 output and the motor's release operation.

[0044] It should be noted that the components in the voltage regulator unit effectively protect the coil and other circuit components from damage caused by various unstable factors. The unidirectional conductivity and freewheeling effect of the unidirectional diode, the filtering and voltage regulation effect of the capacitor, and the surge protection effect of the bidirectional diode work together to prevent excessive voltage, reverse voltage, high-frequency noise, and surge pulses from impacting the coil and circuit components. This extends the service life of the coil and other circuit components, reduces the system failure rate, and improves the reliability and stability of the entire brake release device 100.

[0045] In one embodiment, such as Figure 5 As shown, the release brake device 100 also includes a signal output module 150, which is connected to the first switch module 110 and also connected to the robot's controller; when the signal output module 150 receives the first electrical signal Vr, it outputs the motor's brake status signal DO1.

[0046] It should be noted that when the first switch module 110 receives the release brake control signal V1 and outputs the first electrical signal Vr, the signal output module 150 can receive this first electrical signal Vr. Simultaneously, the signal output module 150 is also connected to the robot's controller, thus enabling it to determine the motor's brake state signal DO1 based on the first electrical signal Vr, and feed back the motor's brake state signal DO1 to the robot's controller. This brake state signal DO1 reflects the current change in the motor's brake state, for example, indicating that the motor is about to transition from a braked state to a release brake state.

[0047] By acquiring the motor's brake status signal DO1, professionals can better control the entire robot maintenance process. For example, if the brake status signal DO1 indicates that the motor has not successfully released the brake, professionals can further check the operation of the release device 100, identify potential problems, and resolve them promptly. This real-time status feedback enhances the controllability of the entire release device 100 and the robot, making maintenance work more precise and efficient.

[0048] In one embodiment, such as Figure 5 As shown, the signal output module 150 includes an optocoupler Q21. The first end of the optocoupler Q21 is used to receive the first electrical signal Vr. The second and third ends of the optocoupler Q21 are both grounded. The fourth end of the optocoupler Q21 is used to output the motor's brake status signal DO1. The fourth end of the optocoupler Q21 is also connected to the power supply transmission line.

[0049] It should be noted that both the second and third terminals of optocoupler Q21 are grounded, providing a stable reference potential for the internal circuitry of Q21. Grounding ensures the normal operation of the internal circuitry of optocoupler Q21 and also helps to introduce potential interference signals to the ground, reducing their impact on signal transmission. Grounding also improves the anti-interference capability of optocoupler Q21, ensuring accurate signal transmission. The fourth terminal of optocoupler Q21 is also connected to the power supply transmission path. The power supply path can be VCC or VCC-24, where VCC-24 indicates a direct 24V power supply from inside the robot. Current limiting can be achieved using resistors R61, R212, and R213. Resistor R214 can be a reserved resistor, which can be adjusted or removed as needed. The power supply transmission path provides the necessary power support for the output of optocoupler Q21, ensuring that the output brake status signal DO1 can be transmitted normally and recognized by subsequent circuits.

[0050] The optocoupler Q21 accurately converts the first electrical signal Vr into the motor's brake status signal DO1. Because the photoelectric conversion process inside the optocoupler Q21 is based on the transmission of light signals, it exhibits high linearity and stability. When the first electrical signal Vr changes, the luminous intensity of the light source changes accordingly, and the photogenerated carriers and output current generated by the photodetector also change, thus accurately reflecting the changes in the first electrical signal Vr and ultimately outputting an accurate motor brake status signal DO1. Professionals can clearly understand the changes in the motor's brake status by receiving this accurate brake status signal DO1, providing reliable information for robot maintenance.

[0051] For example, in combination Figures 2 to 5 As shown, when the brake release control signal V1 is low, MOSFETs Q22 / Q20 are not turned on, the relay coil is not energized, RM1+ is connected to RK1+, and RM1- is connected to RK1-, outputting a brake signal. At this time, the motor cannot rotate, the robot cannot move, the optocoupler Q21 is not turned on, and DO1 outputs a high level. When the brake release control signal V1 is high, the relay coil is energized, RM1+ is connected to VCC, and RM1- is connected to GND, outputting a brake release signal V2. At this time, the motor can rotate, the robot can move, the optocoupler Q21 is turned on, and DO1 outputs a low level. The DO1 output signal is mainly used to output a brake status signal DO1 to the robot's core controller, which uses this signal to determine whether the motor is in a brake-on or brake-off state.

[0052] In one embodiment, such as Figure 6 As shown, the first interface chip 130 includes a first port group and a second port group. The first interface chip 130 is, for example, chip J3. The first port group is connected to the second switch module 120, and the first port group includes, for example, port 13 and port 14. (Combined with...) Figure 4 It can be seen that the first interface chip 130 can also be connected to the second switch module 120 through ports 11 and 12. The second port group is connected to the motor, and the second port group includes, for example, ports 15 and 16. The second port group is used to output a release brake signal to the motor.

[0053] In one embodiment, such as Figure 6 As shown, the first interface chip 130 also includes a fifth port group, which may include, for example, port 4. The fifth port group is connected to the robot's controller and is used to receive output signals from the controller, including a brake release control signal V1.

[0054] The fifth port group connects to the robot's controller, enabling information exchange between the controller and the brake release device 100. The robot's controller is responsible for precisely controlling various robot actions and functions, including controlling the braking and release of the robot's motors. For example, based on the robot's overall operating status, fault detection results, and operational instructions from professionals, the controller comprehensively determines whether a brake release operation is necessary. Once the controller makes the brake release decision, it generates a corresponding output signal, which may include the brake release control signal V1. Through the fifth port group, the controller can accurately transmit the output signal containing the brake release control signal V1 to the first interface chip 130.

[0055] It should be noted that the first interface chip 130 receives and processes the brake release control signal V1 from the fifth port group, and then transmits it to the connected second switch module 120 through the first port group. This triggers the relay unit and other components in the second switch module 120 to operate, ultimately realizing the brake release operation on the robot motor. The first interface chip 130 can accurately transmit the brake release control signal V1 to the subsequent brake release device 100, ensuring that the brake release operation is performed at the correct time and in the correct manner, avoiding misoperation and unnecessary brake release, and improving the safety and accuracy of robot operation. Furthermore, as a key component connecting the controller and the brake release device 100, the first interface chip 130 enhances the integration of the entire robot system. This integrated design reduces the connection complexity between various robot components, improving the overall stability and reliability of the robot. It also facilitates robot maintenance and upgrades; when adjustments or optimizations to the brake release control function are needed, they can be achieved by modifying the first interface chip 130 and related control programs, without requiring large-scale modifications to the entire robot system.

[0056] In one embodiment, such as Figure 6 As shown, the power supply terminals (such as ports 1, 3, and 9) of the first interface chip 130 can also be connected to power transmission lines. The power supply for these lines can be VCC, VCC-24, or PD-24V. VCC-24 indicates that 24V power can be directly obtained from inside the robot, while PD-24V indicates that 24V power can be directly obtained from an external power source. When the robot is not powered off, 24V power can be directly obtained from inside the robot. The first interface chip 130 has a reserved set of external power output interfaces (port 9) and a set of brake release control signal V1 interfaces (port 4). Through these two ports, multiple brake release devices 100 can be expanded, and each brake release device 100 can control the braking or release of one motor. In addition, each port line can be connected to a grounded bidirectional diode.

[0057] In one embodiment, such as Figure 7 As shown, the second interface chip 140 includes a third port group and a fourth port group. The third port group is used to connect to an external power supply, and the third port group is, for example, VBUS1-VBUS4. The fourth port group is connected to the power supply transmission line of the release brake device, and the fourth port group is, for example, SBU1-SBU2. The power supply transmission line is also connected to the robot's internal power supply.

[0058] In one embodiment, such as Figure 7 As shown. The brake release device 100 also includes a voltage regulation module, and the second interface chip 140 also includes a sixth port group. The sixth port group includes, for example, DM1 and DM2, DP1 and DP2, and the voltage regulation module includes, for example, R31, R32 and T1. The voltage regulation module is connected to the sixth port group and is used to regulate the external voltage accessed through the sixth port group.

[0059] It should be noted that during the actual operation and maintenance of the robot, the voltage supplied by the external power source may fluctuate, or different external power sources may have different voltage values. Furthermore, the various electronic components and circuits in the brake release device 100 typically have specific operating voltage ranges. If the input voltage is unstable or outside the appropriate operating voltage range, it may cause damage to electronic components or abnormal circuit operation, thereby affecting the normal function of the brake release device 100.

[0060] Therefore, the voltage regulation module ensures that the voltage connected to the brake release device 100 is stable within its operating voltage range by adjusting the external voltage, thereby guaranteeing the stable operation of the brake release device 100. Stable voltage prevents damage to electronic components and abnormal circuit operation caused by voltage fluctuations, improving the reliability and stability of the brake release device 100. Furthermore, different robot systems may use different types and voltage values ​​of external power supplies; the presence of the voltage regulation module enhances the compatibility of the brake release device 100. Regardless of the voltage of the external power supply, the voltage regulation module can adjust it to the operating voltage required by the brake release device 100, enabling it to operate normally under various power supply environments. This expands the application range of the brake release device 100 and reduces equipment replacement and modification costs caused by power supply incompatibility.

[0061] In one embodiment, Figure 8 and Figure 9 This is a schematic diagram of the power supply transmission route for the brake release device provided in an embodiment of this application. (See attached diagram.) Figure 8 and Figure 9As shown, to adapt to various usage scenarios, such as when a TYPE-C cable is connected to a 24V power supply but does not conform to the PD3.0 protocol, a custom non-standard USB cable can be used to control the conduction of MOSFETs Q14 / Q15 via the SBU pin, supplying power to the subsequent circuitry. For this brake release device 100, since both the robot's internal and external power supplies power the relays in the subsequent circuitry, diodes D14 / D15 are incorporated into the design to prevent power backflow.

[0062] For example, when the robot experiences a power outage due to a malfunction or other abnormal situation, a power bank supporting the PD3.0 protocol can be connected via the TYPE-C connector. The power bank provides external voltage, which is then used to control the relay to release the motor brake. When the power bank is connected to the TYPE-C interface, the U2 PD-SNK chip interfaces with it via the PD protocol. After successful interface connection, the power bank outputs 20V power to the release brake device 100. The U2 chip then controls the Q14 / Q15 MOSFETs to conduct, supplying power to the subsequent circuitry.

[0063] The robot's unbrake device 100 in the above embodiment can respond to receiving the unbrake control signal V1 and output an unbrake signal V2 to the motor, thereby controlling the motor to unbrake. Therefore, when motor brakes restrict robot movement, the motor can be controlled to unbrake, thus releasing the robot's movement restriction. When a robot malfunctions and its movement is restricted, the unbrake device 100 can release the movement restriction, allowing the robot to move autonomously to a certain extent or, under the guidance of professionals, to the maintenance area. This avoids the tediousness and risks of manual handling, saving time and effort. Therefore, it solves the problem of difficulty in moving a malfunctioning robot to a specific maintenance area for maintenance. Furthermore, the unbrake device 100 can use a dual power supply mode, either internal or external. For example, it can use internal power when the robot is not powered off and external power when the robot is powered off. This allows the robot to have sufficient power to move to the maintenance area, avoiding the hassle of manual handling and reducing maintenance interruptions due to power issues, thus improving maintenance efficiency.

[0064] Please refer to Figure 10 , Figure 10 A schematic block diagram of a robot provided in an embodiment of this application.

[0065] like Figure 10 As shown, the robot 200 includes at least one motor 210 and at least one unbrake device 220 of any of the embodiments of this application, with the motor 210 and the unbrake device 220 connected in a one-to-one correspondence. The unbrake device 220 may be the unbrake device 100 of the robot described in the above embodiments.

[0066] In one embodiment, the robot 200 further includes a battery module as an internal power source. The battery module includes one or more energy storage units, such as one or more batteries. Multiple batteries can be connected in series or parallel to form the battery module.

[0067] It is understood that the beneficial effects that the robot provided in this application embodiment can achieve can be referred to the beneficial effects of the robot's release brake device in the corresponding embodiment provided above, and will not be repeated here.

[0068] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application.

Claims

1. A device for releasing the brake of a robot, characterized in that, The robot includes a motor, and the release brake device is configured to control the release brake of the motor; when the motor is braked, the robot's movement is restricted, and when the motor is released brake, the restriction on the robot's movement is lifted; The brake release device includes: The first switch module, in response to receiving the release brake control signal, outputs a first electrical signal; The second switch module is connected to the first switch module. When the second switch module receives the first electrical signal, it outputs a release brake signal. The first interface chip includes a first port group and a second port group. The first port group is connected to the second switch module, and the second port group is connected to the motor. The second port group is used to output the release brake signal to the motor. The second interface chip includes a third port group and a fourth port group. The third port group is used to connect to an external power source, and the fourth port group is connected to the power supply transmission line of the release brake device. The power supply transmission line is also connected to the internal power source of the robot.

2. The robot's brake release device according to claim 1, characterized in that, The first switching module includes a first switching transistor and a second switching transistor; The first terminal of the first switch is used to receive the release brake control signal, the second terminal of the first switch is used to ground, and the third terminal of the first switch is used to connect to the first terminal of the second switch; the second terminal of the second switch is used to connect to the power supply transmission line, and the third terminal of the second switch is used to output the first electrical signal.

3. The robot's brake release device according to claim 2, characterized in that, The first switching module further includes a first filtering unit and a second filtering unit; The first filter unit is connected between the first end and the second end of the first switch transistor, and the second filter unit is connected between the first end and the second end of the second switch transistor.

4. The robot's brake release device according to claim 1, characterized in that, The second switching module includes a relay unit, which includes a coil and a contact system; the contact system includes a common contact, a normally open contact, and a normally closed contact. The first end of the coil is used to receive the first electrical signal, the second end of the coil is used to ground, and the coil is activated when it receives the first electrical signal; The common contact and the normally closed contact are respectively connected to different ports of the first port group, the normally open contact is connected to the power transmission line, and the common contact is connected to the normally open contact when the coil is energized.

5. The robot's brake release device according to claim 4, characterized in that, The second switching module further includes a voltage regulator unit connected between the first and second ends of the coil. The voltage regulator unit includes a capacitor, a bidirectional diode, and a unidirectional diode connected in parallel. The cathode of the unidirectional diode is connected to the first end of the coil, and the anode of the unidirectional diode is connected to the second end of the coil.

6. The robot's brake release device according to claim 1, characterized in that, The brake release device also includes a signal output module, which is connected to the first switch module and also connected to the robot's controller; when the signal output module receives the first electrical signal, it outputs the brake status signal of the motor.

7. The robot's brake release device according to claim 6, characterized in that, The signal output module includes an optocoupler. The first end of the optocoupler is used to receive the first electrical signal, and the second and third ends of the optocoupler are both grounded. The fourth end of the optocoupler is used to output the brake status signal of the motor, and the fourth end of the optocoupler is also connected to the power supply transmission line.

8. The release brake device for a robot according to any one of claims 1-7, characterized in that, The first interface chip further includes a fifth port group; the fifth port group is connected to the robot's controller and is used to receive the output signal of the controller, the output signal including the release brake control signal.

9. The release brake device for a robot as described in any one of claims 1-7, characterized in that, The release brake device further includes a voltage regulation module, and the second interface chip further includes a sixth port group; the voltage regulation module is connected to the sixth port group and is used to regulate the external voltage accessed through the sixth port group.

10. A robot, characterized in that, It includes at least one motor and at least one release brake device for the robot as described in any one of claims 1-9, wherein the motor and the release brake device of the robot are connected in a one-to-one correspondence.

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