CN113176500A - Motor band-type brake online diagnosis and analysis device and working method thereof - Google Patents
Motor band-type brake online diagnosis and analysis device and working method thereof Download PDFInfo
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- CN113176500A CN113176500A CN202110606080.5A CN202110606080A CN113176500A CN 113176500 A CN113176500 A CN 113176500A CN 202110606080 A CN202110606080 A CN 202110606080A CN 113176500 A CN113176500 A CN 113176500A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
- G01R31/343—Testing dynamo-electric machines in operation
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Abstract
The embodiment of the invention discloses an online diagnosis and analysis device for a motor brake and a working method thereof, wherein the device comprises a motor driving unit, a driving circuit, a brake coil, a brake switch tube and a current sampling and processing unit; the motor driving unit is used for sending a command of opening or closing the internal contracting brake; the driving circuit is used for driving the closing or opening of the band-type brake switch tube according to the instruction; the band-type brake coil is used for conducting power on or power off according to the on or off of the band-type brake switch tube; the current sampling processing unit is used for collecting the current of the band-type brake coil, carrying out differential amplification and inputting the current to the motor driving unit, and judging whether the band-type brake is in an abnormal state or not by the motor driving unit according to the current waveform obtained by the coil and the braking torque waveform of the motor. The embodiment of the invention can solve the problems that the prior art can not perform an online detection function and can not send out a fault early warning signal in advance and remind to maintain and repair in time.
Description
Technical Field
The invention relates to the technical field of motor band-type brakes, in particular to an on-line diagnosis and analysis device for the motor band-type brakes and a working method thereof.
Background
The band-type brake has wide application in all fields, is generally arranged on a motor which rotates or moves linearly, provides braking torque of the band-type brake in emergency and provides a last layer of safety protection function. Since the band-type brake provides a safety function, the reliability and safety of the band-type brake directly affect the safety of the system. The band-type brake control methods widely used in the market at present generally include two methods, one is a method for directly controlling the opening and closing of a band-type brake, and the other is a method for providing basic functions of opening and closing and simultaneously increasing the functions of detecting the disconnection and the short circuit of a band-type brake coil.
As shown in fig. 1, a control method of a general contracting brake switch is shown, where the contracting brake control switch may be a mechanical relay or an electronic semiconductor switch, and when the contracting brake control switch is in an off state, a contracting brake coil loses power, and the contracting brake is in a closed and locked state, and when the contracting brake control switch is in a closed state, the contracting brake coil gets power, and the contracting brake is in an on state. As shown in fig. 2, after the MCU sends a command to open the brake, the driving circuit receives an opening signal to drive the brake switch to close, the brake coil is powered on to make the brake in an open state, and the current detection resistor detects a current signal on the brake coil in real time, and sends the current signal to the differential amplification unit for signal processing, and finally sends the current signal of the brake coil to the MCU for detection.
However, the general contracting brake switch control method has no short circuit and broken line detection protection, and can not realize the online detection of the contracting brake, although the contracting brake control method with the protection can detect the short circuit and open circuit faults of the coil, the method detects the state of the coil, and can not detect whether the actual friction force of the contracting brake and the motor shaft is in a normal range; after the contracting brake control method with protection detects that a coil is broken or short-circuited, although a fault can be reported, the contracting brake cannot be started again, and difficulty is brought to field maintenance.
Therefore, it is necessary to design a new device to solve the problems that the prior art cannot perform an online detection function, cannot send out a failure early warning signal in advance, and cannot remind a user to perform maintenance in time.
Disclosure of Invention
The invention aims to provide an online diagnosis and analysis device for a motor band-type brake and a working method thereof.
In order to solve the technical problems, the invention aims to realize the following technical scheme: the utility model provides an online diagnostic analysis device of motor band-type brake, includes: the device comprises a motor driving unit, a driving circuit, a band-type brake coil, a band-type brake switch tube and a current sampling processing unit; the motor driving unit is used for sending a command of opening or closing the internal contracting brake; the driving circuit is used for driving the closing or opening of the band-type brake switch tube according to the instruction; the band-type brake coil is used for conducting power on or power off according to the on or off of the band-type brake switch tube; the current sampling processing unit is used for collecting the current of the band-type brake coil, carrying out differential amplification and inputting the current to the motor driving unit, and judging whether the band-type brake is in an abnormal state or not by the motor driving unit according to the current waveform obtained by the coil to open the brake and the braking torque waveform of the band-type brake.
The further technical scheme is as follows: still include the motor, band-type brake coil integration is in on the motor.
The further technical scheme is as follows: the motor driving unit comprises a band-type brake driving subunit and a band-type brake current detection subunit; the band-type brake driving subunit is used for sending a command of opening or closing a band-type brake to the driving circuit; and the band-type brake current detection subunit is used for judging whether the coil is in an abnormal state or not according to the current signal transmitted by the current sampling processing unit.
The further technical scheme is as follows: the motor driving unit also comprises a motor current detection subunit; the motor current detection subunit is used for collecting the UVW three-phase current of the motor and calculating the output torque of the motor according to the UVW three-phase current.
The further technical scheme is as follows: the motor driving unit further comprises an inversion module, and the inversion module is connected with the motor.
The further technical scheme is as follows: the band-type brake switch tube comprises a switch S1.
The further technical scheme is as follows: the current sampling processing unit comprises a sampling resistor R1 and a differential amplifier U1, the sampling resistor R1 is connected with the contracting brake switch tube, and the differential amplifier U1 is respectively connected with the sampling resistor R1 and the contracting brake current detection subunit.
The further technical scheme is as follows: and two ends of the band-type brake coil are connected with a freewheeling diode D1 in parallel.
In addition, the technical problem to be solved by the present invention is also to provide a working method of the online diagnosis and analysis device for the motor internal contracting brake, comprising:
the motor driving unit sends a command of opening or closing the internal contracting brake; the driving circuit drives the closing or opening of the band-type brake switch tube according to the instruction; the contracting brake coil is electrified or powered off according to the on or off of a contracting brake switch tube; the current sampling processing unit collects the current of the band-type brake coil, performs differential amplification and inputs the current to the motor driving unit, and the motor driving unit judges whether the band-type brake is in an abnormal state according to the current waveform obtained by the coil to open the band-type brake and the braking torque waveform of the band-type brake.
The further technical scheme is as follows: and when the internal resistance is within the range, the coil is considered to be normal, and when the internal resistance exceeds the range, the coil is considered to be abnormal, the motor driving unit judges whether the band-type brake is in an abnormal state according to a band-type brake braking torque curve, and the motor driving unit carries out fault warning in advance.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the motor driving unit, the driving circuit, the band-type brake coil, the band-type brake switch tube and the current sampling processing unit are arranged, the current sampling processing unit is used for collecting the current when the band-type brake coil is electrified, and the band-type brake braking torque limit test is carried out according to the current characteristics of the band-type brake coil, the characteristics of the band-type brake braking torque in the closing and opening states of the band-type brake, so as to detect whether the band-type brake is in a normal working state in advance, if the detected value exceeds a set value, namely the band-type brake is in an abnormal working state, a fault early warning is sent in advance, so that a maintainer can carry out manual detection and maintenance in advance, and the problems that the prior art cannot carry out an online detection function, cannot send out a fault early warning signal in advance and remind of carrying out maintenance and repair in time are solved.
The invention is further described below with reference to the accompanying drawings and specific embodiments.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a specific circuit schematic diagram of a general band-type brake switch control method in the prior art;
FIG. 2 is a specific circuit schematic diagram of a prior art contracting brake control method with protection;
fig. 3 is a schematic block diagram of an online diagnosis and analysis device for a motor brake according to an embodiment of the present invention;
fig. 4 is a schematic circuit diagram of an online diagnosis and analysis device for a motor band-type brake according to an embodiment of the present invention;
fig. 5 is a schematic diagram of a current waveform of a brake coil according to an embodiment of the present invention;
FIG. 6 is a timing diagram illustrating operation of a band-type brake coil according to an embodiment of the present invention;
the labels in the figures illustrate:
10. a motor drive unit; 11. the brake driving subunit; 12. a band-type brake current detection subunit; 13. a motor current detection subunit; 14. an inversion module; 20. a drive circuit; 30. a band-type brake coil; 40. a band-type brake switch tube; 50. a current sampling processing unit; 60. an electric motor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
Referring to fig. 3, fig. 3 is a schematic block diagram of an online diagnosis and analysis device for a motor band-type brake according to an embodiment of the present invention, which can be applied to an online diagnosis process of a motor 60 band-type brake to implement online detection, send out a fault warning signal in advance, and prompt maintenance and repair.
Referring to fig. 3, the online diagnosis and analysis device for motor internal contracting brake includes: the device comprises a motor driving unit 10, a driving circuit 20, a band-type brake coil 30, a band-type brake switch tube 40 and a current sampling processing unit 50; the motor driving unit 10 is used for sending a command of opening or closing the internal contracting brake; the driving circuit 20 is used for driving the closing or opening of the band-type brake switch tube 40 according to the instruction; the band-type brake coil 30 is used for conducting power on or power off according to the on or off of the band-type brake switch tube 40; the current sampling processing unit 50 is configured to collect a current of the internal contracting brake coil 30, perform differential amplification, and input the current to the motor driving unit 10, so that the motor driving unit 10 determines whether the internal contracting brake is in an abnormal state according to the current waveform of the coil and the braking torque waveform of the internal contracting brake.
When the state of the band-type brake coil 30 is detected in real time, the motor driving unit 10 sends a command for opening the band-type brake, and after receiving the command, the driving circuit 20 drives the band-type brake switch tube 40 to be conducted, so that the band-type brake coil 30 is powered on to open the band-type brake. The coil current is sampled and amplified by the current sampling processing unit 50 and then sent to the motor driving unit 10, and the motor driving unit 10 judges whether the coil is in an abnormal state according to the real-time current of the band-type brake coil 30 and the waveform of the coil current obtained by the coil and switched off as shown in fig. 5.
The waveform of the coil current when the brake coil 30 is powered on and switched off is shown in fig. 5, the abscissa is time t, and the ordinate is the coil current Iw。IxhThe current at which the armature begins to attract, IwIs the steady-state current of the coil after the actuation of the armaturexcIs the increase of the coil current from 0A to IxhTime of current, txyThe time from the beginning of attraction to the completion of attraction is defined as the time from the beginning of attraction of the armature. When the armature does not move, the brake coil 30 can connect the equivalent coil internal resistance R and the inductance L in series, so that U is IR + Ldi/dt. When the coil current is at steady state Iw, di/dt is negligibly small, and U is IR. The motor 60 driver calculates the internal resistance of the coil according to the ohm's law U-IR at the time of the steady state, considers that the coil is normal when the internal resistance is within the range, considers that the coil is abnormal when the internal resistance exceeds the range, and carries out a fault warning in advance. As can be seen from fig. 5, under the same voltage of the internal contracting brake coil 30, the current waveform of the internal contracting brake coil 30 that is electrified and switched off is inherent to the internal contracting brake, the driver of the motor 60 detects whether the time txh from the coil current of 0A to the first trough exceeds the normal range in real time, and if the time exceeds the normal range, the internal contracting brake is determined to be abnormal.
The current of the band-type brake coil 30 can indirectly judge whether the band-type brake is in an abnormal state,the timing chart of the operation of the band-type brake shown in fig. 6 can more directly feed back whether the braking torque provided by the band-type brake is within a normal range. FIG. 6 consists of two parts, one is a U-t plot of coil voltage versus time and one is an M/I-t plot of brake torque/motor 60 current versus time. As can be seen from FIG. 6, when the voltage of the band-type brake coil 30 drops from U to 0V, the band-type brake starts to close, and t passes11After a period of time, the brake armature begins to contact the shaft of the motor 60 and begins to generate braking torque. The time for setting the torque from 0NM to Mk is t12Total brake time t1＝t11+t12。t12The time is closely related to the degree of brake wear and the spring return force, and if the motor 60 drive is capable of detecting brake torque in real time, t can be detected12Whether the time exceeds a normal value. Because the current of the motor 60 is in direct proportion to the output torque of the shaft of the motor 60, the driver of the motor 60 detects the current of the motor 60 in real time according to the current detection subunit 13 of the motor 60, converts the current into the torque of the motor 60 through a formula and passes t12And monitoring whether the band-type brake is in a normal state or not by time.
Whether the band-type brake is in a healthy state or not is analyzed by detecting the current of the band-type brake coil 30 and the output current of the motor 60 in real time, if the band-type brake is abnormal, a maintenance worker is informed of on-site confirmation and replacement and maintenance in an alarming mode, the band-type brake can output safe braking torque under the condition of extreme working, and the safety of equipment and personnel is ensured. The method can analyze the abnormity of the band-type brake in advance, can avoid the problem that the band-type brake cannot be opened after the band-type brake coil 30 is broken or short-circuited, can also avoid the condition that the band-type brake cannot provide enough band-type brake torque in an emergency working state of the band-type brake which is seriously worn, can greatly improve the safety of equipment and personnel, can improve the maintenance efficiency and reduce the maintenance cost.
In an embodiment, referring to fig. 4, the online diagnosis and analysis apparatus for motor brake further includes a motor 60, and the brake coil 30 is integrated on the motor 60.
In an embodiment, referring to fig. 3 and 4, the motor driving unit 10 includes a brake driving subunit 11 and a brake current detecting subunit 12; the contracting brake driving subunit 11 is configured to send an instruction for opening or closing a contracting brake to the driving circuit 20; the band-type brake current detection subunit 12 is configured to determine whether the coil is in an abnormal state according to the current signal transmitted by the current sampling processing unit 50.
In an embodiment, referring to fig. 3 and 4, the motor driving unit 10 further includes a current detecting subunit 13 of the motor 60; and the current detection subunit 13 of the motor 60 is configured to collect the UVW three-phase current of the motor 60, and calculate the output torque of the motor 60 by using the UVW three-phase current.
The current characteristic of the band-type brake coil 30, the band-type brake torque characteristic and the rated brake torque of the band-type brake are utilized, and the health state information of the band-type brake is obtained by detecting and analyzing the current of the band-type brake coil 30 and the output current of the motor 60 in real time. The analysis of the health state of the band-type brake by using the current characteristic of the band-type brake coil 30 mainly comprises detection and analysis of the internal resistance characteristic of the band-type brake coil 30 and detection and analysis of the current characteristic of the coil when the band-type brake is switched on and switched off.
In an embodiment, referring to fig. 3 and 4, the motor driving unit 10 further includes an inverter module 14, and the inverter module 14 is connected to the motor 60.
In an embodiment, referring to fig. 4, the band-type brake switch tube 40 includes a switch S1.
In an embodiment, referring to fig. 4, the current sampling processing unit 50 includes a sampling resistor R1 and a differential amplifier U1, the sampling resistor R1 is connected to the contracting brake switch tube 40, and the differential amplifier U1 is respectively connected to the sampling resistor R1 and the contracting brake current detecting subunit 12.
In this embodiment, one end of the sampling resistor R1 is grounded, and the sampling resistor R1 collects the current obtained by the brake coil 30, amplifies the current by the differential amplifier U1, and inputs the amplified current to the brake current detection subunit 12 for detection.
In one embodiment, referring to fig. 4, a freewheeling diode D1 is connected in parallel to two ends of the brake coil 30.
The device detects and analyzes the state of the band-type brake coil 30 in real time, detects and analyzes the braking torque characteristic curve of the band-type brake in the closed state of the band-type brake in real time, diagnoses the torque state of the band-type brake coil 30 and the band-type brake, carries out fault early warning in advance, avoids potential safety hazards caused by complete failure of the band-type brake, and further improves the safety and reliability of equipment using the band-type brake.
According to the online diagnosis and analysis device for the motor band-type brake, the motor driving unit 10, the driving circuit 20, the band-type brake coil 30, the band-type brake switch tube 40 and the current sampling and processing unit 50 are arranged, the current sampling and processing unit 50 collects the current when the band-type brake coil 30 is electrified, and according to the current characteristics of the band-type brake coil 30, the characteristics of band-type brake braking torque in the closed state and the open state of the band-type brake and the limit test of the band-type brake braking torque, whether the band-type brake is in the normal working state or not is detected in advance, if the detected value exceeds the set value, namely the band-type brake is in the abnormal working state, fault early warning is sent in advance, and a maintainer can manually detect, repair and replace in advance, so that the problems that the online detection function cannot be carried out, a fault early warning signal cannot be sent out in advance, and maintenance and timely maintenance and repair cannot be reminded are solved in the prior art.
In an embodiment, the embodiment further provides a working method of the online diagnosis and analysis device for the motor internal contracting brake, which includes:
the motor driving unit 10 sends a command for opening or closing the internal contracting brake; the driving circuit 20 drives the closing or opening of the band-type brake switch tube 40 according to the instruction; the contracting brake coil 30 is powered on or powered off according to the closing or opening of the contracting brake switch tube 40; the current sampling processing unit 50 collects the current of the brake coil 30, performs differential amplification, and inputs the current to the motor driving unit 10, so as to determine whether the brake is in an abnormal state according to the current waveform obtained by the motor driving unit 10 coil to open the brake and the brake braking torque waveform.
Specifically, when the motor driving unit 10 judges whether the band-type brake is in an abnormal state according to the current waveform of the coil which is electrified and is switched off and the band-type brake braking torque waveform, the internal resistance of the coil is calculated according to the current waveform, when the internal resistance is in a range, the coil is considered to be normal, and when the internal resistance exceeds the range, the coil is considered to be abnormal, a fault warning is carried out in advance, and the motor driving unit 10 judges whether the band-type brake is in an abnormal state according to a band-type brake braking torque curve, and the fault warning is carried out in advance.
It should be clearly understood by those skilled in the art that, for a specific implementation process of the working method of the online diagnosis and analysis device for a motor brake, reference may be made to the corresponding description in the foregoing embodiment of the online diagnosis and analysis device for a motor brake, and for convenience and brevity of description, no further description is provided herein.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. Motor band-type brake on-line diagnosis analytical equipment, its characterized in that includes: the device comprises a motor driving unit, a driving circuit, a band-type brake coil, a band-type brake switch tube and a current sampling processing unit; the motor driving unit is used for sending a command of opening or closing the internal contracting brake; the driving circuit is used for driving the closing or opening of the band-type brake switch tube according to the instruction; the band-type brake coil is used for conducting power on or power off according to the on or off of the band-type brake switch tube; the current sampling processing unit is used for collecting the current of the band-type brake coil, carrying out differential amplification and inputting the current to the motor driving unit, and judging whether the band-type brake is in an abnormal state or not by the motor driving unit according to the current waveform obtained by the coil to open the brake and the braking torque waveform of the band-type brake.
2. The online diagnosis and analysis device for the motor brake as claimed in claim 1, further comprising a motor, wherein the brake coil is integrated on the motor.
3. The online diagnosis and analysis device for the motor brake according to claim 1, wherein the motor driving unit comprises a brake driving subunit and a brake current detection subunit; the band-type brake driving subunit is used for sending a command of opening or closing a band-type brake to the driving circuit; and the band-type brake current detection subunit is used for judging whether the coil is in an abnormal state or not according to the current signal transmitted by the current sampling processing unit.
4. The online diagnosis and analysis device for the motor brake according to claim 2, wherein the motor driving unit further comprises a motor current detection subunit; the motor current detection subunit is used for collecting the UVW three-phase current of the motor and calculating the output torque of the motor according to the UVW three-phase current.
5. The online diagnosis and analysis device for the motor brake according to claim 2, wherein the motor driving unit further comprises an inverter module, and the inverter module is connected with the motor.
6. The online diagnosis and analysis device for the motor brake as claimed in claim 1, wherein the brake switch tube comprises a switch S1.
7. The online motor brake diagnosis and analysis device according to claim 3, wherein the current sampling processing unit comprises a sampling resistor R1 and a differential amplifier U1, the sampling resistor R1 is connected to the brake switch tube, and the differential amplifier U1 is respectively connected to the sampling resistor R1 and the brake current detection subunit.
8. The online diagnosis and analysis device for the motor brake according to claim 1, wherein a freewheeling diode D1 is connected in parallel to two ends of the brake coil.
9. The working method of the online diagnosis and analysis device for the motor brake is characterized by comprising the following steps:
the motor driving unit sends a command of opening or closing the internal contracting brake; the driving circuit drives the closing or opening of the band-type brake switch tube according to the instruction; the contracting brake coil is electrified or powered off according to the on or off of a contracting brake switch tube; the current sampling processing unit collects the current of the band-type brake coil, performs differential amplification and inputs the current to the motor driving unit, and the motor driving unit judges whether the band-type brake is in an abnormal state according to the current waveform obtained by the coil to open the band-type brake and the braking torque waveform of the band-type brake.
10. The working method of the online diagnosis and analysis device for the motor brake according to claim 9, wherein the motor driving unit judges whether the brake is in an abnormal state according to the current waveform of the coil which is electrified to open the brake and the brake torque waveform of the brake, the internal resistance of the coil is calculated according to the current waveform, when the internal resistance is in a range, the coil is considered to be normal, and when the internal resistance is out of the range, the coil is considered to be abnormal, a fault warning is performed in advance, and the motor driving unit judges whether the brake is in an abnormal state according to the brake braking torque curve, and the fault warning is performed in advance.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110606080.5A CN113176500A (en) | 2021-05-26 | 2021-05-26 | Motor band-type brake online diagnosis and analysis device and working method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110606080.5A CN113176500A (en) | 2021-05-26 | 2021-05-26 | Motor band-type brake online diagnosis and analysis device and working method thereof |
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| CN113176500A true CN113176500A (en) | 2021-07-27 |
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| CN202110606080.5A Pending CN113176500A (en) | 2021-05-26 | 2021-05-26 | Motor band-type brake online diagnosis and analysis device and working method thereof |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113900466A (en) * | 2021-09-30 | 2022-01-07 | 达闼机器人有限公司 | Band-type brake driving circuit and control method thereof, circuit board and control chip |
| CN114833835A (en) * | 2022-06-10 | 2022-08-02 | 一汽丰田汽车有限公司 | Detection method and device for brake release, engineering robot and medium |
| CN114994533A (en) * | 2022-08-04 | 2022-09-02 | 深圳众城卓越科技有限公司 | Automatic loading test system and test method for twin-towed unit |
| CN115453352A (en) * | 2022-08-02 | 2022-12-09 | 广州汽车集团股份有限公司 | Motor fault diagnosis circuit, method, device, vehicle and storage medium |
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2021
- 2021-05-26 CN CN202110606080.5A patent/CN113176500A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113900466A (en) * | 2021-09-30 | 2022-01-07 | 达闼机器人有限公司 | Band-type brake driving circuit and control method thereof, circuit board and control chip |
| CN114833835A (en) * | 2022-06-10 | 2022-08-02 | 一汽丰田汽车有限公司 | Detection method and device for brake release, engineering robot and medium |
| CN114833835B (en) * | 2022-06-10 | 2024-03-29 | 一汽丰田汽车有限公司 | Band-type brake release detection method and device, engineering robot and medium |
| CN115453352A (en) * | 2022-08-02 | 2022-12-09 | 广州汽车集团股份有限公司 | Motor fault diagnosis circuit, method, device, vehicle and storage medium |
| CN115453352B (en) * | 2022-08-02 | 2024-02-23 | 广州汽车集团股份有限公司 | Motor fault diagnosis circuit, method, device, vehicle and storage medium |
| CN114994533A (en) * | 2022-08-04 | 2022-09-02 | 深圳众城卓越科技有限公司 | Automatic loading test system and test method for twin-towed unit |
| CN114994533B (en) * | 2022-08-04 | 2022-11-01 | 深圳众城卓越科技有限公司 | Automatic loading test system and test method for twin-towed unit |
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