CN115913900A - Equipment shutdown method and device, terminal equipment and storage medium - Google Patents
Equipment shutdown method and device, terminal equipment and storage medium Download PDFInfo
- Publication number
- CN115913900A CN115913900A CN202211412862.6A CN202211412862A CN115913900A CN 115913900 A CN115913900 A CN 115913900A CN 202211412862 A CN202211412862 A CN 202211412862A CN 115913900 A CN115913900 A CN 115913900A
- Authority
- CN
- China
- Prior art keywords
- motor
- shutdown
- motion state
- controlling
- servo drive
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a method and a device for equipment shutdown, terminal equipment and a storage medium, wherein a motor is controlled to execute a brake action by responding to an emergency shutdown signal, and whether the motor is in a first motion state is judged; if the motor is in the first motion state, controlling the motor to output reverse braking torque to drive the motor to decelerate so as to enable the motor to enter a second motion state; when the motor is in the second motion state, outputting a torque for maintaining the motor in the second motion state through the servo drive until the brake action is completed; and cutting off the output of the servo drive to the motor, and controlling the motor to perform dynamic braking until the motor is in a static state. The motor can be rapidly decelerated through the band-type brake and the reverse braking torque, and the equipment is kept in a static state through the output torque before the band-type brake finishes acting, so that the safety performance of the equipment is improved, and the quick and reliable shutdown is realized.
Description
Technical Field
The invention relates to the field of industrial automation, in particular to a method and a device for stopping equipment, terminal equipment and a storage medium.
Background
With the rapid development of industrial automation technology, equipment such as machine tools and industrial robots are more and more widely applied in the production and manufacturing fields, and the growth space is larger at present. At the same time, the safety performance requirements for the equipment are also increasing. In the usual application, when an emergency situation occurs, which requires triggering an emergency stop or some systematic failure occurs during the operation of the device, particularly in the case of high-speed operation, it should be ensured that the device can perform the task of an emergency stop quickly and reliably.
At present, the principle that reverse braking can be generated due to three-phase short circuit of a servo motor is usually utilized when industrial equipment is in emergency shutdown, braking is carried out in a dynamic braking mode by means of three-phase short circuit of the motor through a relay, the speed of the motor is reduced, and meanwhile, when the speed of the motor is reduced to be lower, a band-type brake is combined, and finally the motor is completely stopped. When the equipment is in a high-speed or static state, the adoption of the shutdown method has the risk of collision and easily causes the safety problem.
Therefore, there is a need to provide a solution that improves the safety of plant shutdowns.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a method and a device for equipment shutdown, a terminal device and a storage medium, and aims to improve the safety performance of equipment shutdown.
In order to achieve the above object, the present invention provides an apparatus shutdown method, which is applied to an emergency shutdown system, the emergency shutdown system including a controller and a motor, the controller including a servo drive, the apparatus shutdown method including:
responding to an emergency stop signal, controlling the motor to execute a brake action, and judging whether the motor is in a first motion state;
if the motor is in a first motion state, controlling the motor to output reverse braking torque, and driving the motor to decelerate so as to enable the motor to enter a second motion state;
when the motor is in a second motion state, outputting a torque for maintaining the motor in the second motion state through the servo drive until the contracting brake action is completed;
and cutting off the output of the servo drive to the motor, and controlling the motor to perform dynamic braking until the motor is in a static state.
Optionally, the step of responding to the emergency shutdown signal further comprises:
generating the emergency stop signal in response to a user-triggered emergency stop instruction; and/or the presence of a gas in the gas,
and generating the emergency stop signal according to the detected fault generated by the emergency stop system.
Optionally, the step of controlling the motor to perform a brake operation in response to the emergency stop signal, and determining whether the motor is in the first motion state includes:
responding to the emergency stop signal, and controlling the motor to execute a contracting brake action through the servo drive;
and judging whether the motor is in a first motion state or not, wherein the first motion state comprises that the motion speed exceeds a first preset threshold value.
Optionally, the controller is connected to the motor through a cable, the step of controlling the motor to drive the motor to decelerate by outputting a reverse braking torque includes:
the servo driver receives the instruction of the main control and outputs current to the motor through the cable based on the instruction;
the motor generates a reverse braking torque based on the current and drives the motor to decelerate through the reverse braking torque.
Optionally, the step of controlling the motor to drive the motor to decelerate by outputting a reverse braking torque further includes:
judging whether an abnormal condition occurs or not;
and if the abnormal condition occurs, cutting off the output of the servo drive to the motor, and controlling the motor to perform dynamic braking until the motor is in a static state.
Optionally, the step of cutting off the output of the servo drive to the motor and controlling the motor to perform dynamic braking until the motor is in a stationary state includes:
cutting off the torque output by the servo drive to the motor;
and dynamically braking the three-phase short circuit of the motor through a relay until the motor is in a static state.
Optionally, the step of dynamically braking the three-phase short circuit of the motor through a relay until the motor is in a stationary state includes:
dynamically braking the three-phase short circuit of the motor through a relay;
judging whether the dynamic braking is effective or not;
and if the dynamic braking is not effective, returning to the step of executing the dynamic braking of the three-phase short circuit of the motor through the relay until the motor is in a static state, and finishing the dynamic braking.
Optionally, the device shutdown method is applied to a robot.
In addition, in order to achieve the above object, the present invention also provides an equipment shutdown apparatus, which is applied to an emergency shutdown system including a controller and a motor, the controller including a servo drive, the equipment shutdown apparatus including:
the response module is used for responding to an emergency stop signal, controlling the motor to execute a brake action and judging whether the motor is in a first motion state;
the speed reduction module is used for controlling the motor to drive the motor to reduce speed by outputting reverse braking torque if the motor is in a first motion state so as to enable the motor to enter a second motion state;
the maintaining module is used for outputting torque for maintaining the motor in the second motion state through the servo drive when the motor is in the second motion state until the contracting brake action is completed;
and the braking module is used for cutting off the output of the servo drive to the motor and controlling the motor to perform dynamic braking until the motor is in a static state when the band-type brake action is finished.
In addition, to achieve the above object, the present invention further provides a terminal device, which includes a memory, a processor, and a device shutdown program stored in the memory and operable on the processor, and when executed by the processor, the terminal device performs the steps of the device shutdown method as described above.
Further, to achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon an equipment shutdown program which, when executed by a processor, implements the steps of the equipment shutdown method as described above.
The equipment shutdown method is applied to an emergency shutdown system, the emergency shutdown system comprises a controller and a motor, the controller comprises a servo driver, and the controller controls the motor to execute a band-type brake action by responding to an emergency shutdown signal and judges whether the motor is in a first motion state or not; if the motor is in a first motion state, controlling the motor to output a reverse braking torque, and driving the motor to decelerate so as to enable the motor to enter a second motion state; when the motor is in a second motion state, outputting a torque for maintaining the motor in the second motion state through the servo drive until the contracting brake action is completed; and cutting off the output of the servo drive to the motor, and controlling the motor to perform dynamic braking until the motor is in a static state. The motor can be rapidly decelerated through the band-type brake and the reverse braking torque, and the equipment is kept in a static state through the output torque before the band-type brake finishes acting, so that the safety performance of the equipment is improved, and the quick and reliable shutdown is realized.
Drawings
FIG. 1 is a functional block diagram of a terminal device to which the apparatus shutdown device of the present invention belongs;
FIG. 2 is a schematic flow chart diagram of an exemplary embodiment of a facility shutdown method of the present invention;
FIG. 3 is a detailed flowchart of step S20 in the embodiment of FIG. 2;
FIG. 4 is a schematic diagram of an emergency shutdown system according to an embodiment of the present invention;
fig. 5 is an overall flow chart of the emergency stop according to the embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
The main solution of the embodiment of the invention is as follows: controlling the motor to execute a brake action by responding to an emergency stop signal, and judging whether the motor is in a first motion state; if the motor is in a first motion state, controlling the motor to output a reverse braking torque, and driving the motor to decelerate so as to enable the motor to enter a second motion state; when the motor is in a second motion state, outputting a torque for maintaining the motor in the second motion state through the servo drive until the contracting brake action is completed; and cutting off the output of the servo drive to the motor, and controlling the motor to perform dynamic braking until the motor is in a static state. The motor can be rapidly decelerated through the band-type brake and the reverse braking torque, and the equipment is kept in a static state through the output torque before the band-type brake finishes acting, so that the safety performance of the equipment is improved, and the quick and reliable shutdown is realized.
The principle that reverse braking can be generated by means of three-phase short circuit of a servo motor is generally utilized when equipment such as an industrial robot is in emergency shutdown, the three-phase short circuit of the motor is braked in a dynamic braking mode through a relay, the speed of the motor is reduced, and meanwhile, when the speed of the motor is reduced to be lower, a band-type brake is combined, and finally the robot is completely stopped.
This method has 2 drawbacks:
1. in a high-speed state, the reverse torque output by only depending on the dynamic braking of the motor is not enough to enable the robot to stop quickly, and particularly in an ultrahigh-speed state, the directional torque output by the dynamic braking is seriously insufficient, so that the robot cannot stop quickly, and can also be accelerated to run under the influence of gravity, an out-of-control state occurs, and finally, the stopping distance and time are overlarge, and safety problems such as collision occur. Although the dynamic braking output torque can be improved by increasing the series resistance when the three phases are short-circuited, the problem still cannot be solved. But also increases hardware costs and reduces the suitability of the electrical cabinet product.
2. In a static state, dynamic braking is immediately carried out and a band-type brake is combined when an emergency stop is triggered. Under the robot receives the gravity occasion, the braking torque that provides when dynamic braking is low-speed is very little and there is action delay because of relay physics device, and the band-type brake is spring structure usually, also has action delay, and both can not provide timely reliable moment and overcome gravity, keep the robot static, finally lead to the robot that is in static state originally can drop, have very big machine collision risk, especially probably lead to serious safety problems such as battery ignition in trades such as lithium electricity.
The invention provides a solution, which can improve the safety performance of equipment shutdown and realize rapid and reliable shutdown under the two scenes by improving the method for the emergency shutdown of the robot.
Specifically, referring to fig. 1, fig. 1 is a schematic diagram of functional modules of a terminal device to which the device shutdown apparatus of the present invention belongs. The device shutdown device may be a device capable of performing device shutdown, which is independent from the terminal device, and may be carried on the terminal device in the form of hardware or software. The terminal device can be an intelligent mobile terminal with a data processing function, such as a mobile phone and a tablet personal computer, and can also be a fixed terminal device or a server with a data processing function.
In this embodiment, the terminal device to which the device shutdown apparatus belongs at least includes an output module 110, a processor 120, a memory 130, and a communication module 140.
The memory 130 stores an operating system and an equipment shutdown program, and the equipment shutdown device can store information such as an emergency shutdown signal in the memory 130; the output module 110 may be a display screen or the like. The communication module 140 may include a WIFI module, a mobile communication module, a bluetooth module, and the like, and communicates with an external device or a server through the communication module 140.
Wherein the device shutdown program in the memory 130, when executed by the processor, implements the steps of:
responding to an emergency stop signal, controlling the motor to execute a brake action, and judging whether the motor is in a first motion state;
if the motor is in a first motion state, controlling the motor to output a reverse braking torque, and driving the motor to decelerate so as to enable the motor to enter a second motion state;
when the motor is in a second motion state, outputting a torque for maintaining the motor in the second motion state through the servo drive until the contracting brake action is completed;
and cutting off the output of the servo drive to the motor, and controlling the motor to perform dynamic braking until the motor is in a static state.
Further, the device shutdown program in the memory 130 when executed by the processor further implements the steps of:
generating the emergency stop signal in response to a user-triggered emergency stop instruction; and/or the presence of a gas in the atmosphere,
and generating the emergency stop signal according to the detected fault generated by the emergency stop system.
Further, the device shutdown procedure in the memory 130 when executed by the processor further implements the steps of:
responding to the emergency stop signal, and controlling the motor to execute a brake action through the servo drive;
and judging whether the motor is in a first motion state or not, wherein the first motion state comprises that the motion speed exceeds a first preset threshold value.
Further, the device shutdown program in the memory 130 when executed by the processor further implements the steps of:
the servo driver receives the instruction of the main control and outputs current to the motor through the cable based on the instruction;
and the motor generates a reverse braking torque based on the current and drives the motor to decelerate through the reverse braking torque.
Further, the device shutdown procedure in the memory 130 when executed by the processor further implements the steps of:
judging whether an abnormal condition occurs or not;
and if the abnormal condition occurs, cutting off the output of the servo drive to the motor, and controlling the motor to perform dynamic braking until the motor is in a static state.
Further, the device shutdown procedure in the memory 130 when executed by the processor further implements the steps of:
cutting off the torque output by the servo drive to the motor;
and dynamically braking the three-phase short circuit of the motor through a relay until the motor is in a static state.
Further, the device shutdown program in the memory 130 when executed by the processor further implements the steps of:
dynamically braking the three-phase short circuit of the motor through a relay;
judging whether the dynamic braking is effective or not;
and if the dynamic braking is not effective, returning to the step of executing the dynamic braking of the three-phase short circuit of the motor through the relay until the motor is in a static state, and finishing the dynamic braking.
According to the scheme, the motor is controlled to execute the brake action by responding to the emergency stop signal, and whether the motor is in the first motion state is judged; if the motor is in a first motion state, controlling the motor to output a reverse braking torque, and driving the motor to decelerate so as to enable the motor to enter a second motion state; when the motor is in a second motion state, outputting a torque for maintaining the motor in the second motion state through the servo drive until the contracting brake action is completed; and cutting off the output of the servo drive to the motor, and controlling the motor to perform dynamic braking until the motor is in a static state. The motor can be rapidly decelerated through the band-type brake and the reverse braking torque, and the equipment is kept in a static state through the output torque before the band-type brake finishes the action, so that the safety performance of the equipment is improved, and the quick and reliable shutdown is realized.
Based on the above terminal device architecture but not limited to the above architecture, embodiments of the method of the present invention are presented.
The execution subject of the method of this embodiment may be an equipment shutdown device or a terminal device, and this embodiment exemplifies the equipment shutdown device.
Referring to fig. 2, fig. 2 is a flow chart illustrating an exemplary embodiment of the method for shutting down the equipment according to the present invention. The equipment shutdown method is applied to an emergency shutdown system, the emergency shutdown system comprises a controller and a motor, the controller comprises a servo drive, and the equipment shutdown method comprises the following steps:
step S10, responding to an emergency stop signal, controlling the motor to execute a brake action, and judging whether the motor is in a first motion state;
in the application process of industrial equipment, emergency shutdown is a common scenario, and the equipment shutdown method in the embodiment of the invention is applied to equipment which needs to be rapidly shutdown and needs a motor to be stabilized at a certain position after shutdown, such as a machine tool and a robot. When the situation that needs emergency shutdown occurs, the robot should ensure to respond to the emergency shutdown signal in time and complete the task of emergency shutdown quickly and reliably, and the following steps are included before that:
generating the emergency stop signal in response to a user-triggered emergency stop instruction; and/or the presence of a gas in the atmosphere,
and generating the emergency stop signal according to the detected fault generated by the emergency stop system.
Specifically, when emergency needs to trigger emergency shutdown, or when some systematic faults occur in the running process of the robot are detected, the emergency shutdown system responds to an emergency shutdown signal, the servo drive immediately controls the motor to execute a brake action, and the motion state of the motor is judged, and the method specifically comprises the following steps:
responding to the emergency stop signal, and controlling the motor to execute a contracting brake action through the servo drive;
and judging whether the motor is in a first motion state or not, wherein the first motion state comprises that the motion speed exceeds a first preset threshold value.
In addition, when the robot runs at a high speed, the robot cannot be quickly stopped only by the reverse torque output by the dynamic braking of the motor, especially under the condition of an ultrahigh speed, the direction torque output by the dynamic braking is seriously insufficient, the robot cannot be quickly stopped, the robot can be accelerated to run under the influence of gravity, an out-of-control state occurs, and finally, the stopping distance and time are overlarge, and safety problems such as collision and the like are caused. Therefore, it is necessary to determine whether the motor is in the first motion state, in the embodiment of the present invention, the first motion state is a high-speed motion state, in an actual production process, speeds of different product specifications are different, and a maximum speed of the product specification speed may be used as the first preset threshold, which is not specifically limited in this embodiment.
Step S20, if the motor is in a first motion state, controlling the motor to output a reverse braking torque, and driving the motor to decelerate so as to enable the motor to enter a second motion state;
further, if the motor is in the first motion state, the servo drive is required to receive a main control instruction, the motor is controlled by the current output by the cable, the motor outputs reverse braking torque to drive the transmission mechanism to decelerate, and the robot enters the second motion state.
Step S30, when the motor is in a second motion state, outputting a torque for maintaining the motor in the second motion state through the servo drive until the band-type brake action is completed;
furthermore, when the moving speed of the motor is lower than a second preset threshold, that is, the motor is determined to be in a second moving state, and the motor enters into low-speed operation, in the embodiment of the present invention, the second preset threshold is set according to 2% of the product specification speed. When the motor enters a second motion state, the torque for maintaining the current state of the robot is output through the servo drive, the contracting brake action of the motor is controlled through the servo drive, the contracting brake closing action of the motor is delayed, and the fact that the contracting brake action is finished actually is guaranteed.
Step S40, cutting off the output of the servo drive to the motor, and controlling the motor to perform dynamic braking until the motor is in a static state, specifically comprising:
cutting off the torque output by the servo drive to the motor;
and dynamically braking the three-phase short circuit of the motor through a relay until the motor is in a static state.
Specifically, after the band-type brake action is actually finished, the current output to the motor can be cut off by the servo drive of the master control, dynamic braking is carried out on the three-phase short circuit of the motor through the relay, after the dynamic braking takes effect, whether the motor is completely in a static state or not is judged, if the motor is in the static state, the emergency shutdown is finished, and if not, the dynamic braking is carried out until the motor is completely in the static state.
In the embodiment, the motor is controlled to execute a brake action by responding to an emergency stop signal, and whether the motor is in a first motion state is judged; if the motor is in a first motion state, controlling the motor to output a reverse braking torque, and driving the motor to decelerate so as to enable the motor to enter a second motion state; when the motor is in a second motion state, outputting a torque for maintaining the motor in the second motion state through the servo drive until the contracting brake action is completed; and cutting off the output of the servo drive to the motor, and controlling the motor to perform dynamic braking until the motor is in a static state. The motor can be rapidly decelerated through the band-type brake and the reverse braking torque, and the equipment is kept in a static state through the output torque before the band-type brake finishes acting, so that the safety performance of the equipment is improved, and the quick and reliable shutdown is realized.
Referring to fig. 3, fig. 3 is a detailed flowchart of step S20 in the embodiment of fig. 2. This embodiment is based on the embodiment shown in fig. 2, in this embodiment, the step S20 includes:
step S201, based on the instruction generated by the main control, the servo driver outputs current to the motor through the cable;
and S202, generating a reverse braking torque by the motor based on the current, and driving the motor to decelerate by the reverse braking torque.
Specifically, the controller is connected with the motor through a cable, when the motor is in a first motion state, the servo drive is required to receive a main control instruction, the motor is controlled through the output current of the cable, and a reverse braking torque is output to drive the motor to decelerate, so that the motor enters a second motion state. Under the condition that the motor runs at a high speed, the motor can be stopped quickly by the band-type brake of the motor and the reverse braking torque which is output by the motor and is large enough and can not cause serious damage to the motor.
In addition, in the scram process, the abnormal condition that still needs to appear monitors, specifically includes:
judging whether an abnormal condition occurs or not;
and if the abnormal condition occurs, cutting off the output of the servo drive to the motor, and controlling the motor to perform dynamic braking until the motor is in a static state.
When the emergency stop process is carried out, the main control monitors the stop process in real time, so that the abnormal condition in the stop process can be detected and processed, and the reliable stop is ensured.
According to the scheme, the main control instruction is received through the servo drive, and current is output to the motor through the cable based on the instruction; the motor generates a reverse braking torque based on the current and drives the motor to decelerate through the reverse braking torque. Under the condition that the motor runs at a high speed, the robot is quickly stopped by the band-type brake of the motor and the reverse braking torque which is output by the motor and is large enough and cannot seriously damage the motor. The shutdown process is monitored in real time through the master control, so that the abnormal condition in the shutdown process can be detected and processed, and the reliable shutdown is ensured.
In addition, an embodiment of the present invention further provides an apparatus shutdown device, where the apparatus shutdown device is applied to an emergency shutdown system, the emergency shutdown system includes a controller and a motor, the controller includes a servo drive, and the apparatus shutdown device includes:
the response module is used for responding to an emergency stop signal, controlling the motor to execute a brake action and judging whether the motor is in a first motion state;
the speed reduction module is used for controlling the motor to drive the motor to reduce speed by outputting reverse braking torque if the motor is in a first motion state so as to enable the motor to enter a second motion state;
the maintaining module is used for outputting torque for maintaining the motor in the second motion state through the servo drive until the band-type brake action is completed when the motor is in the second motion state;
and the braking module is used for cutting off the output of the servo drive to the motor and controlling the motor to perform dynamic braking until the motor is in a static state when the band-type brake action is finished.
Referring to fig. 4, fig. 4 is a schematic structural diagram of an emergency shutdown system in an embodiment of the present invention, and as shown in fig. 4, the emergency shutdown system includes a controller 2, a robot body 5, a motor 6, a transmission mechanism 7, and a cable 8 connecting the controller 2 and the robot body 5, where the controller includes a main control 3 and a servo drive 4.
The main control 3 is used for responding to an emergency stop signal of a user and triggering emergency stop when detecting the abnormal state of the system, and controlling the robot to complete the stop according to the method provided by the embodiment of the invention.
The servo drive 4 receives the instruction of the main control 3, and the control of the motor 6 is completed by the current output by the cable 8, so that the motor 6 drives the transmission mechanism 7 to decelerate by reverse braking torque. Meanwhile, the servo drive 4 controls the brake action of the motor 6 to lock the robot, so that the equipment is ensured to be kept still after sudden stop.
Referring to fig. 5, fig. 5 is a schematic overall flow chart of the emergency shutdown in the embodiment of the present invention, as shown in fig. 5, including the following steps:
step 1, a user triggers an emergency stop or a system fault occurs.
And step 2, the servo drive 4 immediately controls the brake combination of the motor 6 and provides reverse braking torque to decelerate the transmission mechanism 7.
Step 6, judging whether an abnormal condition occurs in the emergency stop process; if the abnormal condition occurs, executing the step 10, otherwise executing the step 4.
Step 7, the main control 3 controls the servo drive 4 to output torque for maintaining the current state of the robot, so that the robot keeps still;
step 8, waiting for the delay of the closing action of the contracting brake of the motor 6 to actually complete the action;
step 9, judging whether the actual action of the band-type brake is finished or not; if so, go to step 18; otherwise step 16 is performed.
And step 10, the main control 3 controls the servo drive 4 to cut off the output to the motor 6 and dynamically brake the three-phase short circuit of the motor 6 through a relay.
Step 11, judging whether dynamic braking is effective or not; if the result is valid, executing step 20, otherwise, executing step 10;
step 12, judging whether the robot body 5 is in a complete static state; if yes, go to step 13, otherwise go to step 11.
And step 13, ending.
According to the technical scheme, the brake of the motor 6 is controlled immediately through the servo drive 4, the reverse braking torque is provided to reduce the speed of the transmission mechanism 7, the servo drive 4 is controlled to output the reverse braking torque through the main control 3, meanwhile, the emergency stop process is monitored, and under the condition that the robot body 5 runs at a high speed, the brake of the motor 6 and the motor 6 output the reverse braking torque which is large enough and cannot cause serious damage to the robot body 5, so that the robot stops quickly. Meanwhile, the main control 2 monitors the shutdown process in real time, ensures that abnormal conditions in the shutdown process can be detected and processed, and ensures reliable shutdown. When the contracting brake of the motor 6 does not complete the action, the motor outputs holding torque to enable the robot body 5 to keep a static state, so that the falling and collision risks which are easy to occur when the robot is emergently stopped under the gravity occasion are avoided, and the robot is ensured to be completely in the static state.
In addition, an embodiment of the present invention further provides a terminal device, where the terminal device includes a memory, a processor, and a device shutdown program that is stored in the memory and is executable on the processor, and when the device shutdown program is executed by the processor, the steps of the device shutdown method described above are implemented.
Since the shutdown program of the present apparatus is executed by the processor, all technical solutions of all the foregoing embodiments are adopted, so that at least all the beneficial effects brought by all the technical solutions of all the foregoing embodiments are achieved, and no further description is given here.
Furthermore, an embodiment of the present invention further provides a computer-readable storage medium, where an equipment shutdown program is stored, and the equipment shutdown program implements the steps of the equipment shutdown method described above when executed by a processor.
Since the shutdown program of the present apparatus is executed by the processor, all technical solutions of all the foregoing embodiments are adopted, so that at least all the beneficial effects brought by all the technical solutions of all the foregoing embodiments are achieved, and no further description is given here.
Compared with the prior art, the equipment shutdown method, the equipment shutdown device, the terminal equipment and the storage medium are provided by the embodiment of the invention, the equipment shutdown method is applied to an emergency shutdown system, the emergency shutdown system comprises a controller and a motor, the controller comprises a servo drive, and the controller controls the motor to execute a brake action by responding to an emergency shutdown signal and judges whether the motor is in a first motion state; if the motor is in a first motion state, controlling the motor to output a reverse braking torque, and driving the motor to decelerate so as to enable the motor to enter a second motion state; when the motor is in a second motion state, outputting a torque for maintaining the motor in the second motion state through the servo drive until the contracting brake action is completed; and cutting off the output of the servo drive to the motor, and controlling the motor to perform dynamic braking until the motor is in a static state. The motor can be rapidly decelerated through the band-type brake and the reverse braking torque, and the equipment is kept in a static state through the output torque before the band-type brake finishes acting, so that the safety performance of the equipment is improved, and the quick and reliable shutdown is realized. The scene requirements of equipment application such as robots are met, and in special industries such as the lithium battery industry, the risk of life and property safety of users is greatly reduced.
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 system 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 system. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, a controlled terminal, or a network device) to execute the method of each embodiment of the present application.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An equipment shutdown method is applied to an emergency shutdown system, the emergency shutdown system comprises a controller and a motor, the controller comprises a servo drive, and the equipment shutdown method comprises the following steps:
responding to an emergency stop signal, controlling the motor to execute a brake action, and judging whether the motor is in a first motion state;
if the motor is in a first motion state, controlling the motor to output a reverse braking torque, and driving the motor to decelerate so as to enable the motor to enter a second motion state;
when the motor is in a second motion state, outputting a torque for maintaining the motor in the second motion state through the servo drive until the contracting brake action is completed;
and cutting off the output of the servo drive to the motor, and controlling the motor to perform dynamic braking until the motor is in a static state.
2. The equipment shutdown method of claim 1, wherein the step of responding to the emergency shutdown signal is preceded by:
generating the emergency stop signal in response to a user-triggered emergency stop instruction; and/or the presence of a gas in the atmosphere,
and generating the emergency stop signal according to the detected fault generated by the emergency stop system.
3. The apparatus shutdown method according to claim 1, wherein the step of controlling the motor to perform a brake actuation in response to the emergency shutdown signal, and determining whether the motor is in the first motion state comprises:
responding to the emergency stop signal, and controlling the motor to execute a brake action through the servo drive;
and judging whether the motor is in a first motion state, wherein in the first motion state, the motion speed of the motor exceeds a first preset threshold value.
4. The plant stopping method of claim 1, wherein the step of controlling the motor to drive the motor to decelerate by outputting a reverse braking torque further comprises, after the step of:
judging whether the motor is abnormal or not;
and if the abnormal condition occurs, cutting off the output of the servo drive to the motor, and controlling the motor to perform dynamic braking until the motor is in a static state.
5. The plant shutdown method of claim 1 or 4, wherein the emergency shutdown system further comprises a relay, and the step of cutting off the output of the servo drive to the motor and controlling the motor to perform dynamic braking until the motor is in a stationary state comprises:
cutting off the torque output by the servo drive to the motor;
and dynamically braking the three-phase short circuit of the motor through the relay until the motor is in a static state.
6. The equipment shutdown method of claim 5, wherein the step of dynamically braking the three-phase short circuit of the motor through the relay until the motor is in a stationary state comprises:
the three-phase short circuit of the motor is dynamically braked through the relay;
judging whether the dynamic braking is effective or not;
and if the dynamic braking is not effective, returning to the step of executing the dynamic braking of the three-phase short circuit of the motor through the relay until the motor is in a static state, and finishing the dynamic braking.
7. An equipment shutdown method as claimed in any one of claims 1 to 6 applied to a robot.
8. An equipment shutdown device, characterized in that, the equipment shutdown device is applied to an emergency shutdown system, the emergency shutdown system includes a controller and a motor, the controller includes a servo drive, the equipment shutdown device includes:
the response module is used for responding to the emergency stop signal, controlling the motor to execute a brake action and judging whether the motor is in a first motion state;
the speed reduction module is used for controlling the motor to output reverse braking torque and driving the motor to reduce speed so as to enable the motor to enter a second motion state if the motor is in a first motion state;
the maintaining module is used for outputting torque for maintaining the motor in the second motion state through the servo drive until the band-type brake action is completed when the motor is in the second motion state;
and the braking module is used for cutting off the output of the servo drive to the motor and controlling the motor to perform dynamic braking until the motor is in a static state.
9. A terminal device, characterized in that the terminal device comprises a memory, a processor and a device shutdown program stored on the memory and executable on the processor, which when executed by the processor implements the steps of the device shutdown method according to any one of claims 1 to 7.
10. A computer-readable storage medium, having stored thereon a device shutdown program which, when executed by a processor, implements the steps of the device shutdown method of any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211412862.6A CN115913900A (en) | 2022-11-11 | 2022-11-11 | Equipment shutdown method and device, terminal equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211412862.6A CN115913900A (en) | 2022-11-11 | 2022-11-11 | Equipment shutdown method and device, terminal equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115913900A true CN115913900A (en) | 2023-04-04 |
Family
ID=86487217
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211412862.6A Pending CN115913900A (en) | 2022-11-11 | 2022-11-11 | Equipment shutdown method and device, terminal equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115913900A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116394311A (en) * | 2023-06-08 | 2023-07-07 | 上海艾利特机器人有限公司 | Robot scram protection processing method, robot and storage medium |
-
2022
- 2022-11-11 CN CN202211412862.6A patent/CN115913900A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116394311A (en) * | 2023-06-08 | 2023-07-07 | 上海艾利特机器人有限公司 | Robot scram protection processing method, robot and storage medium |
| CN116394311B (en) * | 2023-06-08 | 2023-08-29 | 上海艾利特机器人有限公司 | Robot scram protection processing method, robot and storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9409295B2 (en) | Method for controlling a robot | |
| CN102208888B (en) | Motor driving system, motor controller, and safety function expander | |
| CN110977972B (en) | Multi-joint robot collision detection method, computer-readable storage medium and robot | |
| US9102058B2 (en) | Method and apparatus for implementing a manipulator process | |
| US9248539B2 (en) | Motor control device for implementing power failure protection of machine tool | |
| CN115913900A (en) | Equipment shutdown method and device, terminal equipment and storage medium | |
| JP6272599B1 (en) | Control device and motor control system | |
| CN114274939B (en) | EPB motor working state monitoring method and device, VCU and storage medium | |
| CN111045383A (en) | Control method and system for realizing anti-shaking of emergency stop in numerical control machine system | |
| CN110076625B (en) | Anti-collision method, anti-collision device and computer readable storage medium | |
| US8183809B2 (en) | Drive device for at least one electric motor and drive control unit interacting with the drive device | |
| CN105045247A (en) | Motor servo system | |
| CN109213128B (en) | Closed-loop control failure detection method and system | |
| JP5590647B2 (en) | Abnormality monitoring device for mobile drive control system | |
| CN114928294A (en) | Safety control system and safety control method of robot and robot | |
| JPH06246674A (en) | Method for detecting brake abnormality of industrical robot | |
| CN116394311B (en) | Robot scram protection processing method, robot and storage medium | |
| CN212935504U (en) | Motor power management system | |
| JPH10277887A (en) | Motor controlling method applicable at failure in position sensor | |
| WO2023139764A1 (en) | Control device | |
| CN112440283A (en) | Robot pop-up window interaction method and device, robot and computer storage medium | |
| JP7064063B1 (en) | Control device | |
| CN111610437A (en) | Dynamic braking circuit, state detection and fault processing method based on dynamic braking circuit | |
| CN115800831B (en) | Start-stop control method and device for synchronous servo control system of electrically-driven special vehicle | |
| CN115890662A (en) | Robot collision control method, control device, computer equipment and medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |