CN114499285B - Safety torque shut-off function circuit and control method - Google Patents

Safety torque shut-off function circuit and control method Download PDF

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Publication number
CN114499285B
CN114499285B CN202210330996.7A CN202210330996A CN114499285B CN 114499285 B CN114499285 B CN 114499285B CN 202210330996 A CN202210330996 A CN 202210330996A CN 114499285 B CN114499285 B CN 114499285B
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China
Prior art keywords
sto
state
branch
signal
driving element
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CN202210330996.7A
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CN114499285A (en
Inventor
王洪林
江龙顺
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Midea Group Co Ltd
Guangdong Midea White Goods Technology Innovation Center Co Ltd
Midea Group Shanghai Co Ltd
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Midea Group Co Ltd
Guangdong Midea White Goods Technology Innovation Center Co Ltd
Midea Group Shanghai Co Ltd
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Priority to CN202210330996.7A priority Critical patent/CN114499285B/en
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/06—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters for stopping or slowing an individual dynamo-electric motor or dynamo-electric converter
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02H—EMERGENCY PROTECTIVE CIRCUIT ARRANGEMENTS
    • H02H11/00—Emergency protective circuit arrangements for preventing the switching-on in case an undesired electric working condition might result
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
    • H02P1/02—Details
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors

Abstract

The application provides a safe torque shutoff function circuit and a control method, wherein the function circuit comprises: the first safe torque turns off the STO branch, the control element, the pre-drive element and the power device; the power supply pin of the pre-driving element is connected with the output end of the control element, and the output end of the pre-driving element is connected with the power device; the control element is used for acquiring the state of the first STO branch; in case the state of the first STO branch is an off state, a first off signal is generated for cutting off the power of the pre-driving element to turn off the power device. The switch in the existing circuit is replaced by the control element, so that no series switch is arranged on the bus, extra loss is not increased, extra volume is not occupied, safety torque turn-off is realized through the control element, the power supply current of the control element is far smaller than that of the switch, the circuit loss is greatly reduced, the volume of the control element is also smaller than that of the switch, and the effect of reducing the volume of a product is achieved.

Description

Safety torque shut-off function circuit and control method
Technical Field
The present application relates to the field of automation control technology, and relates to, but is not limited to, a safe torque shutdown function circuit and a control method.
Background
With the improvement of living standard of people, more and more human-computer cooperation scenes are provided, and the safety of products such as a cooperation robot, an automatic guided vehicle (AGV, automated Guided Vehicle), a mobile robot and the like is of great importance to people. When the personal safety of the user is threatened, the frequency converter or the servo driver is powered off by pressing the emergency stop button, so that the motor stops outputting torque and the machine stops running, and the damage to the human body caused by the accidental action of the machine is prevented.
In order to prevent personal injury accidents caused by accidents of products, a Safe Torque Off (STO) function is designed for driving equipment such as a frequency converter, a servo motor driver and the like, and the STO function can prevent the driver from generating Torque in the drive when the motor stops, so that personal injury accidents caused by accidental starting of the motor are effectively prevented.
In the existing control system, one path of STO is used for controlling the on and the enabling of a pulse width modulation (PWM, pulse Width Modulation) buffer, and the other path of STO is used for controlling the power supply of a power device through a switch to realize torque turn-off control, so that the power device is turned off or enabled. The existing scheme connects the switch in series on the bus of the power device, so that the loss is large in normal operation, and the volume of the high-current switch cannot be ignored. If the power device is turned off by directly cutting off the bus power supply of the system, the micro control unit (MCU, microcontroller Unit) is powered down simultaneously. The power-off restarting needs to reset the zero position of the robot again, is very troublesome, often needs a long time to rerun the machine, particularly a high-power frequency converter or a driver, and the power-on and power-off of the machine often needs a long time to influence the efficiency.
Disclosure of Invention
In view of this, the embodiments of the present application provide a safe torque shutdown function circuit and a control method for solving the problems existing in the prior art.
The technical scheme of the embodiment of the application is realized as follows:
in a first aspect, embodiments of the present application provide a safe torque shutdown functional circuit, the functional circuit comprising: the first safe torque turns off the STO branch, the control element, the pre-drive element and the power device;
the power supply pin of the pre-driving element is connected with the output end of the control element, and the output end of the pre-driving element is connected with the power device;
the control element is used for acquiring the state of the first STO branch; and under the condition that the state of the first STO branch is in an off state, generating a first off signal, wherein the first off signal is used for cutting off the power supply of the pre-driving element so as to turn off the power device.
In some embodiments, the functional circuit further comprises: a second STO branch;
the pre-drive element is used for acquiring the state of the second STO branch; and generating a second turn-off signal for cutting off the Pulse Width Modulation (PWM) output signal of the pre-driving element to turn off the power device under the condition that the state of the second STO branch is an off state.
In some embodiments, the control element is further configured to generate a first conduction signal for turning on a power supply of the pre-driving element in a case where the state of the first STO branch is a conduction state;
the pre-driving element is further configured to generate a second conduction signal when the state of the second STO branch is a conduction state;
the pre-driving element is further configured to generate a PWM output signal according to the first conductive signal and the second conductive signal, so as to drive the power device.
In some embodiments, the control element is specifically configured to determine that the state of the first STO leg is an open state when detecting that the output end of the first STO leg is disconnected from the input end of the control element;
the control element is specifically configured to detect that an output end of the first STO branch is connected to an input end of the control element, and determine that a state of the first STO branch is an off state when the first STO branch is detected to be at a low level;
the control element is specifically configured to detect that an output end of the first STO branch is connected to an input end of the control element, and determine that a state of the first STO branch is a conductive state when the first STO branch is detected to be at a high level.
In some embodiments, the pre-drive element is specifically configured to determine that the state of the second STO leg is an open state when it is detected that the output end of the second STO leg is disconnected from the enable end of the pre-drive element;
the pre-driving element is specifically configured to detect that an output end of the second STO branch is connected to an enable end of the pre-driving element, and determine that a state of the second STO branch is an off state when the second STO branch is detected to be at a low level;
the pre-driving element is specifically configured to detect that an output end of the second STO branch is connected to an enable end of the pre-driving element, and determine that a state of the second STO branch is a conductive state when the second STO branch is detected to be at a high level.
In a second aspect, an embodiment of the present application provides a safe torque shutdown control method, where the method is applied to a safe torque shutdown functional circuit, and the functional circuit includes: the first safe torque turns off the STO branch, the control element, the pre-drive element and the power device; the method comprises the following steps:
acquiring a state of a first STO branch, wherein the state of the first STO branch comprises an off state and an on state;
Determining the state of the first STO branch as an off state, and generating a first off signal;
and cutting off the power supply of the pre-driving element based on the first turn-off signal to turn off the power device.
In some embodiments, the functional circuit further comprises a second STO branch; the method further comprises the steps of:
acquiring the state of the second STO branch, wherein the state of the second STO branch comprises an off state and an on state;
determining the state of the second STO branch as an off state, and generating a second off signal;
and cutting off a Pulse Width Modulation (PWM) output signal of the pre-driving element based on the second cut-off signal so as to cut off the power device.
In some embodiments, the method further comprises:
generating a first conduction signal for turning on a power supply of the pre-driving element in case that the state of the first STO branch is a conduction state;
generating a second on signal if the state of the second STO branch is on;
and generating a PWM output signal according to the first conduction signal and the second conduction signal so as to drive the power device.
In some embodiments, said obtaining the state of the first STO leg comprises:
When the disconnection of the output end of the first STO branch and the input end of the control element is detected, determining that the state of the first STO branch is a disconnection state;
when the output end of the first STO branch is detected to be connected with the input end of the control element and the first STO branch is detected to be at a low level, determining that the state of the first STO branch is in an off state;
and when the output end of the first STO branch is detected to be connected with the input end of the control element and the first STO branch is detected to be at a high level, determining that the state of the first STO branch is in a conducting state.
In some embodiments, said obtaining the state of said second STO leg comprises:
when the disconnection of the output end of the second STO branch and the enabling end of the pre-driving element is detected, determining that the state of the second STO branch is a disconnection state;
when the output end of the second STO branch is detected to be connected with the enabling end of the pre-driving element and the second STO branch is detected to be at a low level, determining that the state of the second STO branch is in an off state;
and when the output end of the second STO branch is detected to be connected with the enabling end of the pre-driving element and the second STO branch is detected to be at a high level, determining that the state of the second STO branch is in a conducting state.
In a third aspect, an embodiment of the present application provides an electronic device, including:
a memory for storing executable instructions;
and the processor is used for realizing the steps of the safety torque turn-off control method provided by the embodiment of the application when executing the executable instructions stored in the memory.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium storing executable instructions for implementing the steps of the safe torque off control method provided in embodiments of the present application when executed by a processor.
The safe torque shutoff function circuit provided by the embodiment of the application comprises: the first safe torque turns off the STO branch, the control element, the pre-drive element and the power device; the power supply pin of the pre-driving element is connected with the output end of the control element, and the output end of the pre-driving element is connected with the power device; the control element is used for acquiring the state of the first STO branch; and under the condition that the state of the first STO branch is in an off state, generating a first off signal, wherein the first off signal is used for cutting off the power supply of the pre-driving element so as to turn off the power device. According to the embodiment of the application, the switch in the existing circuit is replaced by the control element, so that no series switch is arranged on the bus, extra loss is not increased, extra volume is not occupied, safety torque turn-off is realized through the control element, the power supply current of the control element is far smaller than that of the switch, the circuit loss is greatly reduced, the volume of the control element is also smaller than that of the switch, and the effect of reducing the volume of a product is achieved.
Drawings
In the drawings (which are not necessarily drawn to scale), like numerals may describe similar components in different views. The drawings illustrate generally, by way of example and not by way of limitation, various embodiments discussed herein.
FIG. 1 is a schematic diagram of a prior art safety torque shutdown circuit;
fig. 2 is a schematic diagram of a component structure of a safety torque shutdown function circuit according to an embodiment of the present disclosure;
fig. 3 is a schematic flow chart of an implementation of the method for controlling shutdown of the safety torque according to the embodiment of the present application;
fig. 4 is a schematic flow chart of another implementation of the method for controlling shutdown of safe torque according to the embodiment of the present application;
fig. 5 is a schematic flow chart of still another implementation of the method for controlling shutdown of safe torque according to the embodiment of the present application;
FIG. 6 is a schematic diagram of a prior art brake control utilizing a safe torque shutdown;
FIG. 7 is a schematic diagram of a circuit connection for controlling torque shutdown according to an embodiment of the present disclosure;
FIG. 8 is a schematic diagram of the circuit connections of the STOIN1 and STOIN2 signals forming a logical AND in the embodiment of the present application;
fig. 9 is a schematic diagram of a component structure of a safety torque shutdown control device according to an embodiment of the present disclosure;
Fig. 10 is a schematic diagram of a composition structure of an electronic device according to an embodiment of the present application.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the present application will be described in further detail with reference to the accompanying drawings, and the described embodiments should not be construed as limiting the present application, and all other embodiments obtained by those skilled in the art without making any inventive effort are within the scope of the present application.
In the following description, the terms "first", "second", "third" and the like are merely used to distinguish similar objects and do not represent a specific ordering of the objects, it being understood that the "first", "second", "third" may be interchanged with a specific order or sequence, as permitted, to enable embodiments of the application described herein to be practiced otherwise than as illustrated or described herein.
Unless defined otherwise, 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 belongs. The terminology used herein is for the purpose of describing embodiments of the present application only and is not intended to be limiting of the present application.
For a better understanding of the embodiments of the present application, first, the constitution of the safety torque shutdown function circuit in the related art and the drawbacks thereof will be described.
Fig. 1 is a schematic diagram of a composition structure of a prior art safety torque shutdown function circuit, as shown in fig. 1, the STO function circuit includes: a micro control unit (MCU, microcontroller Unit) 11, a buffer 12, a pre-driving chip 13, a power device 14 and a switch 15. The existing scheme utilizes external two-way control signals STO1 and STO2 to achieve torque off control. One path STO1 controls the on and the enabling of the PWM buffer 12, and the power device 14 is turned off or enabled after the driving amplification of the pre-driving chip 13. The other path STO2 realizes torque turn-off control by controlling a power switch 15 of the power device 14.
When the control torque is turned off, one control mode is realized by the switch 15: the switch 15 is connected in series with the bus power supply of the power device 14, and the control mode has the defect that: the loss is larger during normal operation, and the mode uses a large-current switch, so that the size of the switch is larger, and the miniaturization of the device is not facilitated. Besides the switch control, the other control mode is to directly cut off the bus power supply of the system, but the MCU 11 is powered down, and when the power is supplied again, the robot needs to be reset to the zero position again, which is very troublesome and is unfavorable for the production efficiency.
Based on the above drawbacks, embodiments of the present application provide a safe torque shutdown function circuit. Fig. 2 is a schematic diagram of a component structure of a safety torque shutdown function circuit according to an embodiment of the present application, as shown in fig. 2, the function circuit includes: the first safety torque shut-off STO branch 21, the control element 22, the pre-drive element 23 and the power device 24; wherein, the power pin of the pre-driving element 23 is connected with the output end of the control element 22, and the output end of the pre-driving element 23 is connected with the power device 24;
the control element 22 is configured to obtain a state of the first STO leg 21, where the state of the first STO leg 21 includes an on state and an off state. When the state of the first STO branch 21 is an off state, a first off signal for cutting off the power supply of the pre-driving element 23 to turn off the power device 24 is generated.
In this embodiment, the control element 22 is specifically configured to determine that the state of the first STO branch 21 is an off state when detecting that the output end of the first STO branch 21 is disconnected from the input end of the control element 22; the control element 22 is specifically configured to detect that the output terminal of the first STO branch 21 is connected to the input terminal of the control element 22, and determine that the state of the first STO branch 21 is an off state when the first STO branch 21 is detected to be at a low level.
When it is detected that the output of the first STO branch 21 is disconnected from the input of the control element 22 or that the output of the first STO branch 21 is connected to the input of the control element 22, but the first STO branch 21 is at a low level, it is determined that the state of the first STO branch 21 is an off state.
According to the safety torque turn-off functional circuit provided by the embodiment of the application, the switch in the existing circuit is replaced by the control element, so that no series switch is arranged on the bus, extra loss is not increased, extra volume is not occupied, safety torque turn-off is realized through the control element, the power supply current of the control element is far less than that of the switch, the circuit loss is greatly reduced, the volume of the control element is also less than that of the switch, and the effect of reducing the volume of a product is achieved.
In some embodiments, as shown in fig. 2, the functional circuit further includes: a second STO branch 25. A pre-drive element 23 for acquiring the state of the second STO leg 25, wherein the state of the second STO leg 25 comprises an on state and an off state. When the state of the second STO branch 25 is an off state, a second off signal is generated for switching off the pulse width modulated PWM output signal of the pre-drive element 23 to switch off the power device 24.
In this embodiment, the pre-driving element 23 is specifically configured to determine that the state of the second STO branch 25 is an off state when detecting that the output end of the second STO branch 25 is disconnected from the enabling end of the pre-driving element 23; the pre-driving element 23 is specifically configured to detect that the output end of the second STO branch 25 is connected to the enable end of the pre-driving element 23, and determine that the state of the second STO branch 25 is an off state when the second STO branch 25 is detected to be at a low level.
When it is detected that the output of the second STO leg 25 is disconnected from the enable terminal of the pre-drive element 23 or that the output of the second STO leg 25 is connected to the enable terminal of the pre-drive element 23, but the second STO leg 25 is at a low level, it is determined that the state of the second STO leg 25 is an off state.
According to the safe torque turn-off functional circuit, during normal operation, the output end of the second STO branch is connected with the enabling end of the pre-driving element, PWM is controlled to be turned on, and an additional buffer is not required to be arranged, so that the whole circuit design is more compact and simpler. When the state of the second STO branch is in an off state, a second off signal is generated, thus cutting off the PWM output signal of the pre-driving element, thereby turning off the power device.
In some embodiments, the control element 22 is further configured to generate a first conduction signal for conducting the power supply of the pre-driving element 23 in case the state of the first STO branch 21 is a conducting state; the pre-drive element 23 is further configured to generate a second on signal if the state of the second STO leg 25 is an on state; the pre-driving element 23 is further configured to generate a PWM output signal according to the first conduction signal and the second conduction signal, so as to drive the power device 24.
Here, the control element 22 is specifically configured to determine that the state of the first STO branch 21 is an on state when detecting that the output terminal of the first STO branch 21 is connected to the input terminal of the control element 22 and detecting that the first STO branch 21 is at a high level.
Here, the pre-driving element 23 is specifically configured to determine that the state of the second STO branch 25 is an on state when it is detected that the output terminal of the second STO branch 25 is connected to the enable terminal of the pre-driving element 23 and the second STO branch 25 is at a high level.
In the safety torque turn-off functional circuit provided by the embodiment of the application, during normal operation, the output end of the first STO branch is connected with the input end of the control element, and the output end of the control element is connected with the pre-driving power supply of the pre-driving chip to provide a driving power supply for the pre-driving chip; the output end of the second STO branch is connected with the enabling end of the pre-driving element to control the opening of PWM, and when the first STI branch and the second STO branch are at high level, the power device works normally.
On the basis of the safety torque shutdown function circuit embodiment, the embodiment of the application provides a safety torque shutdown control method. Fig. 3 is a schematic flow chart of an implementation of a method for controlling shutdown of a safe torque according to an embodiment of the present application, as shown in fig. 3, the method includes the following steps:
step S301, the state of the first STO leg is acquired.
The control method provided in the embodiment of the present application is applied to the safety torque shutdown function circuit provided in the embodiment shown in fig. 2, and as shown in fig. 2, the function circuit includes: the first safety torque turns off the STO branch, the control element, the pre-drive element and the power device.
Wherein the states of the first STO leg include an off state and an on state.
In the embodiment of the present application, step S301 may be implemented by a control element of the safety torque shutdown function circuit. In one implementation, the control element acquiring the state of the first STO leg may be implemented as: detecting whether the output end of the first STO branch is disconnected from the input end of the control element, and if the output end of the first STO branch is detected to be disconnected from the input end of the control element, determining that the state of the first STO branch is a disconnected state; and if the first STO branch is detected to be at the low level, determining that the state of the first STO branch is in an off state. And if the output end of the first STO branch is detected to be connected with the input end of the control element and the first STO branch is detected to be at a high level, determining that the state of the first STO branch is in a conducting state.
Step S302, determining that the state of the first STO branch is an off state, and generating a first off signal.
In the embodiment of the application, this step may be implemented by a control element of the safety torque shutdown function circuit. When the control element obtains that the state of the first STO branch is the off state according to step S301, the control element generates a first off signal, where the first off signal is used to cut off the power supply of the pre-driving element, so as to turn off the power device.
Step S303, cutting off the power supply of the pre-driving element based on the first turn-off signal to turn off the power device.
In the embodiment of the application, this step may be implemented by a control element or a pre-drive element of the safety torque shut-off function circuit. The control element controls the output end of the control element to turn off the power supply based on the first turn-off signal, stops continuously transmitting the electric energy for the pre-driving element, and cuts off the power supply of the pre-driving element to turn off the power device. Or the pre-driving element receives the first turn-off signal from the control element, controls the input end of the pre-driving element to turn off the power supply, stops the pre-driving element from continuously receiving the electric energy, and cuts off the power supply of the pre-driving element to turn off the power device.
The safe torque turn-off control method provided by the embodiment of the application is applied to a safe torque turn-off functional circuit, and the functional circuit comprises: the first safe torque turns off the STO branch, the control element, the pre-drive element and the power device; the method comprises the following steps: acquiring a state of a first STO branch, wherein the state of the first STO branch comprises an off state and an on state; determining the state of the first STO branch as an off state, and generating a first off signal; and cutting off the power supply of the pre-driving element based on the first turn-off signal to turn off the power device. According to the embodiment of the application, the switch in the existing circuit is replaced by the control element, so that no series switch is arranged on the bus, extra loss is not increased, extra volume is not occupied, safety torque turn-off is realized through the control element, the power supply current of the control element is far smaller than that of the switch, the circuit loss is greatly reduced, the volume of the control element is also smaller than that of the switch, and the effect of reducing the volume of a product is achieved.
The embodiment of the application further provides a safe torque turn-off control method. Fig. 4 is a schematic flow chart of another implementation of the method for controlling shutdown of safe torque according to the embodiment of the present application, as shown in fig. 4, the method includes the following steps:
Step S401, the state of the second STO leg is acquired.
The control method provided in the embodiment of the present application is applied to the safety torque shutdown function circuit provided in the embodiment shown in fig. 2, and as shown in fig. 2, the function circuit includes: a second STO branch, a pre-drive element and a power device.
Wherein the states of the second STO leg include an off state and an on state.
In the embodiment of the present application, step S401 may be implemented by a pre-driving element of the safety torque shutdown function circuit. In one implementation, the pre-drive element acquiring the state of the second STO leg may be implemented as: detecting whether the output end of the second STO branch is disconnected with the enabling end of the pre-driving element, and if so, determining that the state of the second STO branch is a disconnected state; and if the output end of the second STO branch is detected to be connected with the enabling end of the pre-driving element, detecting whether the level of the second STO branch is low or not, and if the second STO branch is detected to be low, determining that the state of the second STO branch is in an off state. And if the output end of the second STO branch is detected to be connected with the enabling end of the pre-driving element, and the second STO branch is detected to be at a high level, determining that the state of the second STO branch is in a conducting state.
Step S402, determining that the state of the second STO branch is an off state, and generating a second off signal.
In the embodiment of the application, this step may be implemented by a pre-driving element of the safety torque shutdown function circuit. When the pre-driving element obtains that the state of the second STO branch is the off state according to step S401, a second off signal is generated, and the second off signal is used for cutting off the PWM output signal of the pre-driving element so as to turn off the power device.
Step S403, cutting off the PWM output signal of the pre-driving element based on the second off signal to turn off the power device.
In the embodiment of the application, this step may be implemented by a pre-driving element of the safety torque shutdown function circuit. The pre-driving element controls the PWM output signal of the pre-driving element according to the second turn-off signal generated by the pre-driving element, so as to turn off the power device.
The safe torque turn-off control method provided by the embodiment of the application is applied to a safe torque turn-off functional circuit, and the functional circuit comprises: the second safe torque turns off the STO branch, the pre-drive element and the power device; the method comprises the following steps: acquiring a state of a second STO branch, wherein the state of the second STO branch comprises an off state and an on state; determining the state of the second STO branch as an off state, and generating a second off signal; and cutting off a Pulse Width Modulation (PWM) output signal of the pre-driving element based on the second cut-off signal so as to cut off the power device. In the functional circuit applied to the control method provided by the embodiment of the application, the output end of the second STO branch is connected with the enabling end of the pre-driving element to control the opening of PWM, and no extra buffer is needed, so that the whole circuit design is more compact and simpler. When the state of the second STO branch is in an off state, a second off signal is generated, thus cutting off the PWM output signal of the pre-driving element, thereby turning off the power device.
On the basis of the embodiments shown in fig. 3 and 4, the embodiment of the present application further provides a safe torque shutdown control method. Fig. 5 is a schematic flow chart of still another implementation of the method for controlling shutdown of safe torque according to the embodiment of the present application, as shown in fig. 5, the method includes the following steps:
step S501 detects whether the output of the first STO leg is disconnected from the input of the control element.
When it is detected that the output end of the first STO branch is disconnected from the input end of the control element, determining that the state of the first STO branch is the disconnected state, and proceeding to step S503; when it is detected that the output of the first STO branch is not disconnected from the input of the control element, step S502 is entered.
Step S502, detects whether the first STO leg is at a low level.
When it is detected according to step S501 that the output of the first STO leg is connected to the input of the control element, and it is detected according to step S502 that the first STO leg is at a low level, step S503 is entered. When it is detected according to step S501 that the output of the first STO leg is connected to the input of the control element, and it is detected according to step S502 that the first STO leg is at a high level, step S505 is entered.
Step S503 determines that the state of the first STO leg is an off state, and generates a first off signal.
Step S504, based on the first turn-off signal, cuts off the power of the pre-driving element to turn off the power device.
After the power device is turned off, the motor stops working, and the control process is ended.
In step S505, the state of the first STO branch is determined to be an on state, and a first on signal is generated.
When the state of the first STO branch is a conducting state, a first conducting signal is generated, and the first conducting signal is used for conducting the power supply of the pre-driving element.
Step S506 detects whether the output terminal of the second STO branch is disconnected from the enable terminal of the pre-driving element.
When it is detected that the output terminal of the second STO branch is disconnected from the enable terminal of the pre-driving element, determining that the state of the second STO branch is the disconnected state, and entering step S509; when it is detected that the output terminal of the second STO branch is not disconnected from the enable terminal of the pre-drive element, step S507 is entered.
Step S507, detects whether the second STO leg is low.
When it is detected that the output terminal of the second STO leg is connected to the enable terminal of the pre-drive element according to step S506, and when it is detected that the second STO leg is at a low level according to step S507, the process proceeds to step S508. When it is detected that the output terminal of the second STO branch is connected to the enable terminal of the pre-drive element according to step S506, and when it is detected that the second STO branch is at a high level according to step S507, the process proceeds to step S510.
Step S508, determining that the state of the second STO leg is an off state, and generating a second off signal.
Step S509 cuts off the PWM output signal of the pre-driving element based on the second off signal to turn off the power device.
After the power device is turned off, the motor stops working, and the control process is ended.
Step S510, determining the state of the second STO branch as the on state, and generating a second on signal.
When the state of the second STO branch is an on state, a second on signal is generated, which is used to enable the PWM output signal.
In the embodiment of the present application, the steps S506 to S510 may be performed after the steps S501 to S505, or may be performed before the steps S501 to S505.
In step S511, a PWM output signal is generated according to the first and second conduction signals to drive the power device.
When the states of the first STO branch and the second STO branch are in the conducting state, the pre-driving element outputs PWM output signals to drive the power device, and therefore the motor is driven to work.
In this embodiment of the present application, an off signal or an on signal is generated according to the state of the first STO branch and the state of the second STO, and when the first on signal and the second on signal are received simultaneously, the power device is turned on, otherwise, the safety torque is turned off, so as to turn off the power device. By replacing the switch in the existing circuit with the control element, the bus is free of the series switch, extra loss of the functional circuit is not increased, extra volume is not occupied, the circuit loss can be greatly reduced while the safety torque is turned off, and the volume of the control element is smaller than that of the switch, so that the effect of reducing the volume of a product can be achieved.
In the following, an exemplary application of the embodiments of the present application in a practical application scenario will be described.
With the improvement of living standard of people, more and more human-computer cooperation scenes are provided, and the safety of products such as a cooperation robot, an automatic guided vehicle (AGV, automated Guided Vehicle), a mobile robot and the like is of great importance to people. Along with the gradual enhancement of health protection consciousness of people, higher requirements on functional safety are also put forward by people, and the requirements on the functions of the cooperative robot are more strict. For the driver for driving the robot, a safety Torque Off (STO, safe Torque Off) is the basic functional safety requirement, and some also require the addition of a safety brake control (SBC, safety Brake Control).
Fig. 6 is a schematic diagram of a brake control using a safety torque shutdown in the prior art, as shown in fig. 6, the prior art circuit includes a micro control unit (MCU, microcontroller Unit) 61, a buffer 62, a pre-driving chip 63, a power device 64, a switch 65, and a motor 66. The prior art scheme uses two external control signals STO1 and STO2, one STO1 controls the on and the enabling of a pulse width modulation (PWM, pulse Width Modulation) buffer 62, and the power device 64 is turned off or enabled after driving and amplifying by a pre-driving chip 63. The other path STO2 realizes torque turn-off control by controlling a power switch 65 of a power device 64.
In the above scheme, when the control torque is turned off, as shown in fig. 6, a control manner is shown that a switch 65 is connected in series to a bus power supply of a power device 64, and the control manner has a defect: the loss is larger during normal operation, and the mode uses a large-current switch, so that the size of the switch is larger, and the miniaturization of the device is not facilitated. Another control method for controlling the turning-off of the torque in the related art is to directly cut off the bus power supply of the system, but the MCU61 is also powered down, when the robot needs to be zeroed again when the power is on again, which is very troublesome, and the control method has the defects of large switching loss and large volume of the bus connected in series.
In order to solve the problems of large switching loss and large volume of the series bus when the control torque is turned off in the prior art, the embodiment of the present application provides a method for controlling the turn-off of the torque, and fig. 7 is a schematic circuit connection diagram for controlling the turn-off of the torque provided in the embodiment of the present application, as shown in fig. 7, a pre-driving chip 71 (corresponding to the pre-driving element above) with an enabling pin is selected as a driving amplification necessary device between the MCU and the power device, and one path of the STOIN1 (corresponding to the first STO branch above) controls the power supply of the pre-driving chip 71 through a Relay (may also be other transistors meeting the power requirement, etc. corresponding to the control element above). When the external STOIN1 is not connected or the signal line is disconnected, the Relay output is disconnected, the power supply of the pre-driving chip 71 is cut off, and the purpose of turning off Q3 to Q8 is achieved. Among them, a Relay (Relay) is an electric control device, which is an electric appliance that generates a predetermined step change in a controlled amount in an electric output circuit when a change in an input amount (excitation amount) reaches a prescribed requirement. It has an interactive relationship between the control system (also called input loop) and the controlled system (also called output loop). It is commonly used in automated control circuits and is actually an "automatic switch" that uses a small current to control the operation of a large current. Therefore, the circuit plays roles of automatic regulation, safety protection, circuit switching and the like.
The other STOIN2 (corresponding to the second STO leg above) directly (or through level shifting, if desired) controls the enable pin of the pre-drive chip 71. Once stin 2 is low or off, the pre-drive chip 71 can also shut off the PWM output, thereby achieving the purpose of turning off Q3-Q8.
In addition, the signals stin 1 and stin 2 form a logical AND, fig. 8 is a schematic circuit connection diagram of the logical AND formed by the signals stin 1 and stin 2 in the embodiment of the application, as shown in fig. 8, and the logic output controls the low end of the band-type brake coil to be turned on or off. The freewheel diode D1 provides a freewheel path of the band-type brake coil inductance to protect the Q2 from breakdown. In this embodiment, STOIN1 and STOIN2 are active high.
Compared with the existing scheme, the main advantages of the scheme provided by the embodiment of the application are as follows: simple hardware implements the STO and SBC functions. The bus is not provided with a series switch, so that extra loss is not increased, and extra volume is not occupied. The pre-driven supply current is small and the losses are negligible. The whole driver design is more compact and simple without additional buffer requirements.
Based on the foregoing embodiments, the embodiments of the present application provide a safe torque shutdown control device, where the safe torque shutdown control device includes units included, and modules included in the units may be implemented by a processor in a computer device; of course, the method can also be realized by a specific logic circuit; in practice, the processor may be a central processing unit (CPU, central Processing Unit), a microprocessor (MPU, microprocessor Unit), a digital signal processor (DSP, digital Signal Processing), or a field programmable gate array (FPGA, field Programmable Gate Array), or the like.
Fig. 9 is a schematic structural diagram of a safe torque shutdown control device provided in an embodiment of the present application, and as shown in fig. 9, the safe torque shutdown control device 900 may include:
a first obtaining module 901, configured to obtain a state of a first STO branch, where the state of the first STO branch includes an off state and an on state;
a first generating module 902, configured to determine that the state of the first STO leg is an off state, and generate a first off signal;
the first cutting module 903 is configured to cut off the power supply of the pre-driving element based on the first turn-off signal, so as to turn off the power device.
In some embodiments, the safe torque off control device 900 may further include:
a second obtaining module, configured to obtain a state of the second STO branch, where the state of the second STO branch includes an off state and an on state;
the second generation module is used for determining that the state of the second STO branch is an off state and generating a second off signal;
and the second cut-off module is used for cutting off the Pulse Width Modulation (PWM) output signal of the pre-driving element based on the second cut-off signal so as to cut off the power device.
In some embodiments, the safe torque off control device 900 may further include:
a third generation module, configured to generate a first on signal when the state of the first STO branch is an on state, where the first on signal is used to turn on a power supply of the pre-driving element;
a fourth generation module, configured to generate a second on signal when the state of the second STO branch is an on state;
and the fifth generation module is used for generating a PWM output signal according to the first conduction signal and the second conduction signal so as to drive the power device.
In some embodiments, the first obtaining module 901 is further configured to:
when the disconnection of the output end of the first STO branch and the input end of the control element is detected, determining that the state of the first STO branch is a disconnection state;
when the output end of the first STO branch is detected to be connected with the input end of the control element and the first STO branch is detected to be at a low level, determining that the state of the first STO branch is in an off state;
and when the output end of the first STO branch is detected to be connected with the input end of the control element and the first STO branch is detected to be at a high level, determining that the state of the first STO branch is in a conducting state.
In some embodiments, the second acquisition module is further configured to:
when the disconnection of the output end of the second STO branch and the enabling end of the pre-driving element is detected, determining that the state of the second STO branch is a disconnection state;
when the output end of the second STO branch is detected to be connected with the enabling end of the pre-driving element and the second STO branch is detected to be at a low level, determining that the state of the second STO branch is in an off state;
and when the output end of the second STO branch is detected to be connected with the enabling end of the pre-driving element and the second STO branch is detected to be at a high level, determining that the state of the second STO branch is in a conducting state.
It should be noted here that: the above description of the items of embodiment of the safety torque shut-off control device, similar to the above description of the method, has the same advantageous effects as the method embodiment. For technical details not disclosed in the embodiments of the safety torque shutdown control device of the present application, those skilled in the art will understand with reference to the description of the method embodiments of the present application.
It should be noted that, in the embodiment of the present application, if the above-mentioned safe torque shutdown control method is implemented in the form of a software function module, and sold or used as a separate product, it may also be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially or partly contributing to the prior art, and the computer software product may be stored in a storage medium, and include several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the embodiments of the present application. Thus, embodiments of the present application are not limited to any specific combination of hardware and software.
An electronic device is provided in this embodiment, fig. 10 is a schematic diagram illustrating a composition structure of the electronic device provided in this embodiment, and other exemplary structures of the electronic device 1000 may be foreseen according to the exemplary structure of the electronic device 1000 shown in fig. 10, so that the structure described herein should not be considered as a limitation, for example, some components described below may be omitted, or components not described below may be added to adapt to specific requirements of some applications.
The electronic device 1000 shown in fig. 10 includes: a processor 1001, at least one communication bus 1002, a user interface 1003, at least one external communication interface 1004, and a memory 1005. Wherein the communication bus 1002 is configured to enable connected communication between the components. The user interface 1003 may include a display screen, and the external communication interface 1004 may include a standard wired interface and a wireless interface, among others. Wherein the processor 1001 is configured to execute a program of the safe torque off control method stored in the memory to implement the steps in the safe torque off control method provided by the above embodiment.
Correspondingly, the embodiment of the present application provides a computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the steps of the safe torque off control method provided in the above embodiment.
It should be noted here that: the description of the storage medium and apparatus embodiments above is similar to that of the method embodiments described above, with similar benefits as the method embodiments. For technical details not disclosed in the embodiments of the storage medium and the apparatus of the present application, please refer to the description of the method embodiments of the present application for understanding.
It should be appreciated that reference throughout this specification to "one embodiment(s)" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. It should be understood that, in various embodiments of the present application, the sequence numbers of the foregoing processes do not mean the order of execution, and the order of execution of the processes should be determined by the functions and internal logic thereof, and should not constitute any limitation on the implementation process of the embodiments of the present application. The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages of the embodiments.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above described device embodiments are only illustrative, e.g. the division of the units is only one logical function division, and there may be other divisions in practice, such as: multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. In addition, the various components shown or discussed may be coupled or directly coupled or communicatively coupled to each other via some interface, whether indirectly coupled or communicatively coupled to devices or units, whether electrically, mechanically, or otherwise.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units; can be located in one place or distributed to a plurality of network units; some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated in one unit; the integrated units may be implemented in hardware or in hardware plus software functional units.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware related to program instructions, and the foregoing program may be stored in a computer readable storage medium, where the program, when executed, performs steps including the above method embodiments; and the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read Only Memory (ROM), a magnetic disk, an optical disk, or other various media capable of storing program codes.
Alternatively, the integrated units described above may be stored in a computer readable storage medium if implemented in the form of software functional modules and sold or used as a stand-alone product. Based on such understanding, the technical solutions of the embodiments of the present application may be embodied in essence or in a part contributing to the prior art in the form of a software product stored in a storage medium, including several instructions for causing a product to perform all or part of the methods described in the various embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a removable storage device, a ROM, a magnetic disk, or an optical disk.
The foregoing is merely an embodiment of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (8)

1. A safety torque shutdown function circuit, characterized in that the function circuit comprises: the first safe torque turns off the STO branch, the second STO branch, the control element, the pre-drive element and the power device;
The power supply pin of the pre-driving element is connected with the output end of the control element, and the output end of the pre-driving element is connected with the power device;
the control element is used for acquiring the state of the first STO branch; generating a first turn-off signal for cutting off the power of the pre-driving element to turn off the power device in case the state of the first STO branch is an off state;
the pre-drive element is used for acquiring the state of the second STO branch; and generating a second turn-off signal for cutting off the Pulse Width Modulation (PWM) output signal of the pre-driving element to turn off the power device under the condition that the state of the second STO branch is an off state.
2. The functional circuit of claim 1, wherein,
the control element is further configured to generate a first conduction signal when the state of the first STO branch is a conduction state, where the first conduction signal is used to conduct a power supply of the pre-driving element;
the pre-driving element is further configured to generate a second conduction signal when the state of the second STO branch is a conduction state;
The pre-driving element is further configured to generate a PWM output signal according to the first conductive signal and the second conductive signal, so as to drive the power device.
3. The functional circuit of claim 1, wherein,
the control element is specifically configured to determine that the state of the first STO branch is an off state when detecting that the output end of the first STO branch is disconnected from the input end of the control element;
the control element is specifically configured to detect that an output end of the first STO branch is connected to an input end of the control element, and determine that a state of the first STO branch is an off state when the first STO branch is detected to be at a low level;
the control element is specifically configured to detect that an output end of the first STO branch is connected to an input end of the control element, and determine that a state of the first STO branch is a conductive state when the first STO branch is detected to be at a high level.
4. The functional circuit of claim 1, wherein,
the pre-driving element is specifically configured to determine that the state of the second STO branch is an off state when it is detected that the output end of the second STO branch is disconnected from the enabling end of the pre-driving element;
The pre-driving element is specifically configured to detect that an output end of the second STO branch is connected to an enable end of the pre-driving element, and determine that a state of the second STO branch is an off state when the second STO branch is detected to be at a low level;
the pre-driving element is specifically configured to detect that an output end of the second STO branch is connected to an enable end of the pre-driving element, and determine that a state of the second STO branch is a conductive state when the second STO branch is detected to be at a high level.
5. A safe torque shut-off control method, characterized in that the method is applied to a safe torque shut-off function circuit, the function circuit comprising: the first safe torque turns off the STO branch, the second STO branch, the control element, the pre-drive element and the power device; the method comprises the following steps:
acquiring a state of a first STO branch, wherein the state of the first STO branch comprises an off state and an on state;
determining the state of the first STO branch as an off state, and generating a first off signal;
cutting off the power supply of the pre-driving element based on the first turn-off signal to turn off the power device;
acquiring the state of the second STO branch, wherein the state of the second STO branch comprises an off state and an on state;
Determining the state of the second STO branch as an off state, and generating a second off signal;
and cutting off a Pulse Width Modulation (PWM) output signal of the pre-driving element based on the second cut-off signal so as to cut off the power device.
6. The method of claim 5, wherein the method further comprises:
generating a first conduction signal for turning on a power supply of the pre-driving element in case that the state of the first STO branch is a conduction state;
generating a second on signal if the state of the second STO branch is on;
and generating a PWM output signal according to the first conduction signal and the second conduction signal so as to drive the power device.
7. The method of claim 5, wherein said obtaining the state of the first STO leg comprises:
when the disconnection of the output end of the first STO branch and the input end of the control element is detected, determining that the state of the first STO branch is a disconnection state;
when the output end of the first STO branch is detected to be connected with the input end of the control element and the first STO branch is detected to be at a low level, determining that the state of the first STO branch is in an off state;
And when the output end of the first STO branch is detected to be connected with the input end of the control element and the first STO branch is detected to be at a high level, determining that the state of the first STO branch is in a conducting state.
8. The method of claim 5, wherein said obtaining the state of said second STO leg comprises:
when the disconnection of the output end of the second STO branch and the enabling end of the pre-driving element is detected, determining that the state of the second STO branch is a disconnection state;
when the output end of the second STO branch is detected to be connected with the enabling end of the pre-driving element and the second STO branch is detected to be at a low level, determining that the state of the second STO branch is in an off state;
and when the output end of the second STO branch is detected to be connected with the enabling end of the pre-driving element and the second STO branch is detected to be at a high level, determining that the state of the second STO branch is in a conducting state.
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