WO2019148333A1 - Method and device for controlling robot to stop, storage medium, and robot system - Google Patents

Abstract

Disclosed are a method and device for controlling a robot to stop, a storage medium, and a robot system. The robot control device comprises a logic control circuit, a driving circuit, and a semiconductor gating circuit. The logic control circuit is connected to control terminals of the driving circuit and the semiconductor gating circuit. A first connection end of the semiconductor gating circuit is connected to an external power source. A second connection end of the semiconductor gating circuit is connected to the driving circuit. The driving circuit is also connected to a robot. The logic control circuit is used to output a first control signal to the semiconductor gating circuit after receiving a first trigger instruction, and controls a disconnection of the semiconductor gating circuit, so as to control the driving circuit to disconnect from a power source, thereby cutting off a power signal of the robot. The robot control device of the present invention has an extended service life and reduced noise, thereby improving the user experience.

Description

Method, device, storage medium and robot system for controlling robot stop

[Technical Field]

The present invention relates to the field of industrial robots, and in particular to a method, device, storage medium and robot system for controlling robot stop.

 【Background technique】

At present, robots have been applied to various fields, such as the industrial field. The industrial robot is divided into a robot body and a control system. The robot body and the control system are connected by a power line and a signal line, and the control system outputs a motion track signal for controlling the motion of the robot through the power line output, so that the robot moves according to a certain motion track.

In order to ensure that the robot can be safely stopped, the prior art stops the movement of the robot by breaking the contactor. Due to the limited life of the contactor, frequent movements cause it to age rapidly, which brings inconvenience to the later maintenance, and the action noise of the contactor is large, and the user experience is poor.

 [Summary of the Invention]

In order to solve the above problems, the present invention provides a method, device, storage medium and robot system for controlling robot stop, which prolongs the life of the robot control device, reduces noise, and improves user experience.

In order to solve the above technical problem, the first technical solution adopted by the present invention is to provide a control device for a robot, the control device comprising: a logic control circuit, a driving circuit, and a semiconductor gating circuit; the logic control circuit respectively The driving circuit is connected to a control end of the semiconductor gating circuit, the first connection end of the semiconductor gating circuit is used for connecting with an external power source, and the second connection end of the semiconductor gating circuit and the driving circuit The driving circuit is configured to be connected to the robot; the logic control circuit is configured to output a first control signal to the semiconductor gating circuit after receiving the first triggering instruction, and control the semiconductor gating circuit Disconnecting to control the power supply of the drive circuit to turn off the power signal of the robot.

In order to solve the above technical problem, the second technical solution adopted by the present invention is to provide a method for controlling the stop of the robot, and the method for controlling the stop of the robot includes: the control device of the robot receives the first trigger command at its logic control circuit And outputting a first control signal to the semiconductor gate circuit thereof; controlling the disconnection of the semiconductor gate circuit according to the first control signal to disconnect the power of the driving circuit of the control device of the robot to cut off a power signal of the robot; wherein the logic control circuit is connected to the control terminal of the driving circuit and the semiconductor gating circuit, respectively, to a first connection end of the semiconductor gating circuit for connection with an external power source, A second connection end of the semiconductor gating circuit is coupled to the driving circuit; the driving circuit is for connecting to the robot.

In order to solve the above technical problem, the third technical solution adopted by the present invention is to provide a storage medium on which a computer program is stored, which can be executed to implement the control robot of any of the present invention. Methods.

In order to solve the above technical problem, the fourth technical solution adopted by the present invention is to provide a robot system including a robot control device, a robot, and an external power source; the robot control device includes a logic control circuit and a drive a circuit and a semiconductor gating circuit; the logic control circuit is respectively connected to the control circuit and the control terminal of the semiconductor gating circuit, and the first connection end of the semiconductor gating circuit is connected to the external power source, a second connection end of the semiconductor gating circuit is connected to the driving circuit; the driving circuit is connected to the robot; the logic control circuit is configured to output to the semiconductor gating circuit after receiving the first triggering instruction A control signal is provided to control the opening of the semiconductor gating circuit to control the power supply of the driving circuit to be turned off to cut off the power signal of the robot.

The beneficial effects of the present invention are that the control device of the robot of the present embodiment includes a semiconductor gating circuit, and the control device of the robot outputs a control signal to the semiconductor gating circuit after receiving the trigger command to control the disconnection of the semiconductor gating circuit. The power supply that controls the drive circuit is disconnected, thereby cutting off the power signal of the robot. The semiconductor strobe circuit disconnects the strobe branch according to the control signal, thereby disconnecting the power supply, thereby avoiding safety hazards caused by personnel operation, and at the same time, prolonging the life of the robot control device, and reducing the power switching process Noise in the room to improve the user experience.

 [Description of the Drawings]

1 is a schematic structural view of an embodiment of a robot system of the present invention;

2 is a schematic structural view of an embodiment of a control device for a robot in the robot system of FIG. 1;

3 is a schematic structural view of an embodiment of a control device for a robot according to the present invention;

4 is a schematic structural view of an embodiment of a method for controlling a robot to stop according to the present invention;

FIG. 5 is a schematic structural view of an embodiment of a storage medium of the present invention.

【Detailed ways】

The present invention provides a method, a device, a storage medium, and a robot system for controlling the stopping of a robot. To clarify and clarify the objects, technical solutions, and technical effects of the present invention, the present invention will be further described in detail below, and the specific embodiments described herein should be understood. The implementation of the invention is intended to be illustrative only and not to limit the invention.

Referring to FIG. 1, FIG. 1 is a schematic structural view of an embodiment of a robot system according to the present invention. The robot system 10 includes an external power source 11, a robot control device 12, and a robot 13.

The control device 12 of the robot includes a logic control circuit, a driving circuit and a semiconductor gating circuit; the logic control circuit is respectively connected with the driving end of the driving circuit and the semiconductor gating circuit, and the first connection end of the semiconductor gating circuit and the external power source 11 The second connection end of the semiconductor gating circuit is connected to the driving circuit; the driving circuit is connected to the robot 13.

Specifically, the logic control circuit is configured to output a first control signal to the semiconductor gate circuit after receiving the first trigger command, and control the disconnection of the semiconductor gate circuit to control the power supply disconnection of the driving circuit to cut off the power of the robot 13 signal.

In order to clearly explain the specific structure of the control device 12 of the robot of the above embodiment, please refer to FIG. 2, which is a schematic structural view of an embodiment of a control device for a robot in the robot system of FIG.

As shown in FIG. 2, the robot control device 12 of the present embodiment includes a logic control circuit 121, a drive circuit 123, and a semiconductor gate circuit 122.

The semiconductor gating circuit 122 includes a thyristor, which is a four-layer high-power semiconductor device having three PN junctions, which can be used for controlled rectification, inverter, frequency conversion, voltage regulation, and no touch. Point switch, etc. In the present embodiment, the thyristor is used as a switch to control the on and off of the semiconductor gate circuit 122. The thyristor is an electronic device, which not only occupies less hardware resources, but also has no obvious sound when power is off, has low noise, and can effectively reduce the switching current.

The logic control circuit 121 is respectively connected to the control terminals of the driving circuit 123 and the semiconductor strobe circuit 122. The first connection end of the semiconductor strobe circuit 122 is connected to the external power source 11, and the second connection end of the semiconductor strobe circuit 122. The drive circuit 123 is connected to the drive circuit 123 for connection to the robot 13.

The external power source 11 may be a device that provides a 220V three-phase power supply, and the first connection end of the semiconductor gating circuit 122 is connected to the power line to obtain power. When the strobe branch of the semiconductor strobe circuit 122 is in communication, that is, when the first connection end of the semiconductor strobe circuit 122 is in communication with the second connection terminal, the robot 13 acquires a power signal through the drive circuit 123. When the semiconductor gate circuit 122 is turned off, the drive circuit 123 is disconnected from the external power source 11, thereby cutting off the power signal of the robot 13.

Specifically, the signal line of the robot 13 and the power and the brake line are respectively connected to the drive circuit 123. The drive circuit 123 supplies the power source to the robot 13 through the power and the brake line, and the drive circuit 123 outputs the control device 12 of the robot through the signal line. The motion path command is issued to cause the robot 13 to operate according to the motion track command, and the drive circuit 123 can also receive the feedback signal of the robot 13 through the signal line to adjust the motion accuracy of the robot 13 according to the feedback signal in real time.

At present, the robot 13 is mainly used in the industrial field, and is a multi-joint robot or a multi-degree-of-freedom machine device, which can automatically perform work to realize a machine of various functions. The robot 13 can be operated according to instructions issued by the user or in accordance with a pre-programmed program.

In a specific application scenario, the robot 13 is a point type robot, for example, a robot arm, which can perform operations such as loading and unloading, spot welding, general handling, loading and unloading of the machine tool. In another application scenario, the robot 13 is a continuous trajectory robot capable of performing continuous welding and painting operations.

At present, in order to meet the needs of the safe stop of the robot, the contactor is mainly used to isolate the main circuit of the control system of the robot to the power supply of the drive circuit thereof, thereby stopping the robot. However, due to the limited life of the contactor and frequent movements, the drive circuit of the robot control system is rapidly deteriorated, which brings inconvenience to the later maintenance. At the same time, the power of the circuit is switched by the contactor, which is accompanied by a large switching current, which may cause interference to the circuit, thereby affecting the performance of the robot and the control system.

In order to solve the above problem, the control device 12 of the robot of the present embodiment employs the semiconductor gate circuit 122. When the gate branch of the semiconductor gate circuit 122 is turned off, the drive circuit 123 cannot receive the power supply signal, thereby failing to the robot 13 Output power signal.

Specifically, the logic control circuit 121 is configured to output a first control signal to the semiconductor gating circuit 122 after receiving the first triggering command, and control the opening of the semiconductor gating circuit 122 to control the power-off of the driving circuit 123 to cut off The power signal of the robot 13.

In one of the embodiments, the robot control device 12 outputs a first control signal to its semiconductor gate circuit 122 after its logic control circuit 121 receives the trigger command of the robot 13 in an abnormal state or an emergency state. In a practical application scenario, the triggering command of the robot 13 in an abnormal state or an emergency state may be triggered manually, or may be triggered after the trajectory detector detects that the robot 13 is in an abnormal state or an emergency state.

Specifically, the first stop command is preset in the logic control circuit 101. When the robot 13 encounters a sudden abnormal condition, such as a fault, the logic control circuit 121 issues a first stop command to the drive circuit 123, and the drive circuit 123 follows the preset. The command outputs a corresponding stop signal to cause the robot 13 to stop at the fastest speed.

In the present embodiment, the robot 13 stops at a position deviating from the original trajectory. After a preset time after the robot 13 stops, for example, after the robot 13 stops for 200 ms, the logic control circuit 121 outputs a first control signal to the semiconductor selection. The circuit 122 is configured to disconnect the first connection end of the semiconductor gating circuit 122 from the gating branch where the second connection end is located to isolate the high voltage.

Here, it should be noted that the foregoing first triggering command is triggered when the robot 13 is in an abnormal condition or an emergency situation, that is, the stopping operation of the above embodiment is mainly when the robot 13 is in an abnormal state or an emergency state. Being triggered, the robot 13 can be stopped at the fastest speed to cope with an emergency. However, this stop operation not only causes a certain degree of damage to the robot 13, but also the robot 13 cannot stop on the original trajectory.

Further, referring to FIG. 3, FIG. 3 is a schematic structural diagram of an embodiment of a control device for a robot according to the present invention. In the present embodiment, the robot control device 201 includes a logic control circuit 2011, a drive circuit 2013, and a semiconductor gate circuit 2012.

The logic control circuit 2011 is respectively connected to the control terminals of the driving circuit 2013 and the semiconductor strobe circuit 2012, the first connection end of the semiconductor strobe circuit 2012 is connected to the external power source 203, and the second connection end of the semiconductor strobe circuit 2012 is driven. The circuit 2013 is connected; the drive circuit 2013 is also connected to the robot 202.

In the present embodiment, the robot control device 201 further includes a controller 2014 that is connected to the drive circuit 2013.

Specifically, the controller 2014 is configured to send a second control signal to the driving circuit 2013 when receiving the second triggering instruction, and the driving circuit 2013 controls the robot 202 to stop working according to the preset program according to the second control signal.

In one embodiment, the driving circuit 2013 includes a driving control circuit 20131 and a driving power circuit 20132, wherein the driving control circuit 20131 is connected to the controller 2014 and the logic control circuit 2011; and the driving power circuit 20132 and the semiconductor strobe circuit 2012 The second connection is connected to receive a power signal; the drive power circuit 20132 is also used to connect with the robot 202.

The driving control circuit 20131 is configured to determine a control algorithm matching the control signal according to the control signal of the controller 2014; the driving power circuit 20132 is configured to output a corresponding driving power signal according to the control algorithm, so that the robot 202 stops working according to the driving power signal. .

Specifically, after receiving the second triggering instruction, the second triggering command may be triggered by an operator, such as a triggering command that the operator triggers the robot 202 to stop, and the controller 2014 sends the driving command to the driving circuit according to the second triggering instruction. 2013 transmits a second control signal, and the drive control circuit 20131 in the drive circuit 2013 determines a control algorithm matching the control signal according to the control signal of the controller 2014 and outputs it to the drive power circuit 20132, and the drive power circuit 20132 outputs the corresponding according to the control algorithm. The power signal is driven to cause the robot 202 to stop operating in accordance with the drive power signal. The driving power signal is a PWM pulse width modulation signal.

The stop operation of the present embodiment can cause the robot 202 to stop on the original trajectory without causing damage to the robot 202.

In another embodiment, in order to isolate the high voltage, different from the above embodiment, after the robot 202 stops, the controller 2014 sends a first trigger command to the logic control circuit 2011, and the control device 201 of the robot is in its logic control circuit 2011. After receiving the first trigger command sent by the controller 2014, the first control signal is output to the semiconductor strobe circuit 2012 to enable the logic control semiconductor strobe circuit 2012 to be turned off to control the power supply of the drive circuit 2013 to be disconnected. Thereby, the power signal of the robot 202 is cut off to isolate the high voltage.

Here, it should be noted that the first trigger command of the present embodiment is sent by the controller 2014. After the robot 202 stops according to the second control signal, the controller 2014 further issues a first trigger command to isolate the strong power. In order to disconnect the semiconductor gate circuit 2012, the power signal of the robot 202 is turned off.

That is, the source of the first trigger command of the present embodiment is different from the source of the first trigger command in the embodiment shown in FIG. 2. However, the purpose to be achieved by both is the same, which is to disconnect the semiconductor gating circuit 2012, thereby cutting off the power signal of the robot 202.

Different from the prior art, the control device of the robot of the present embodiment includes a semiconductor gating circuit, and after the control device of the robot receives the trigger command, outputs a control signal to the semiconductor gating circuit to control the disconnection of the semiconductor gating circuit to control the driving. The power to the circuit is broken, thereby cutting off the power signal of the robot. The semiconductor strobe circuit disconnects the strobe branch according to the control signal, thereby disconnecting the power supply, thereby avoiding safety hazards caused by personnel operation, and at the same time, prolonging the life of the robot control device, and reducing the power switching process Noise in the room to improve the user experience.

Referring to FIG. 4, FIG. 4 is a schematic structural diagram of an embodiment of a method for controlling a robot to stop in accordance with the present invention. The method of controlling the robot to stop in the present embodiment is applied to the control device of the robot according to any of the above embodiments. The method for controlling the stopping of the robot of the embodiment includes:

401: The control device of the robot outputs a first control signal to its semiconductor gating circuit after its logic control circuit receives the first trigger command.

The control device for the robot of the present embodiment includes a logic control circuit, a drive circuit, and a semiconductor gate circuit.

The semiconductor gating circuit comprises a thyristor, which is a four-layer high-power semiconductor device with three PN junctions, which can be used for controlled rectification, inverter, frequency conversion, voltage regulation, and no contact. Switch, etc. In the present embodiment, a thyristor is used as a switch to control the on and off of the semiconductor strobe circuit. The thyristor is an electronic device, which not only occupies less hardware resources, but also has no obvious sound when power is off, has low noise, and can effectively reduce the switching current.

Wherein, the logic control circuit is respectively connected to the control terminal of the driving circuit and the semiconductor gating circuit, the first connection end of the semiconductor gating circuit is connected to the external power source, the second connection end of the semiconductor gating circuit is connected to the driving circuit, and the driving circuit is further Connected to the robot.

The external power source may be a device that provides a 220V three-phase power supply, and the first connection end of the semiconductor strobe circuit is connected to the power line to obtain power.

Specifically, the signal line of the robot and the power and the brake line are respectively connected to the driving circuit, and the driving circuit supplies the power source to the robot through the power and the brake line, and the driving circuit outputs the motion track command issued by the control device of the robot through the signal line. The robot is caused to operate according to the motion trajectory, and the driving circuit can also receive the feedback signal of the robot through the signal line to adjust the motion precision of the robot according to the feedback signal in real time.

At present, the main application and industrial field of robots are multi-joint robots or multi-degree-of-freedom machine devices, which can automatically perform work to realize a machine of various functions. The robot can be run according to the instructions issued by the user, or it can be run according to a pre-programmed program.

In a specific application scenario, the robot is a point-type robot, for example, a robot arm, which can perform operations such as loading and unloading, spot welding, general handling, loading and unloading of the machine tool. In another application scenario, the robot is a continuous trajectory robot capable of performing continuous welding and painting operations.

At present, in order to meet the needs of the safe stop of the robot, the contactor is mainly used to isolate the main circuit of the control system of the robot to the power supply of the drive circuit thereof, thereby stopping the robot. However, due to the limited life of the contactor and frequent movements, the drive circuit of the robot control system is rapidly aging, which brings inconvenience to the later maintenance; on the other hand, the contactor is a physical button, which not only has a large motion noise, but also affects the user experience, and There are security risks. At the same time, the power of the circuit is switched by the contactor, which is accompanied by a large switching current, which may cause interference to the circuit, thereby affecting the performance of the robot and the control system.

In order to solve the above problem, the control device for the robot of the present embodiment employs a semiconductor gate circuit. When the gate branch of the semiconductor gate circuit is turned off, the drive circuit cannot receive the power supply signal, and thus the power signal cannot be output to the robot.

Specifically, after the logic control circuit receives the first trigger command, the logic control circuit sends a stop command to the drive circuit to stop the robot; after the robot stops, the logic control circuit goes to the control device of the robot. The semiconductor gating circuit outputs a first control signal. In one embodiment, the first triggering command is an instruction that is triggered when the robot is in an abnormal state or an emergency state, and the abnormal state or emergency state may be artificially triggered, or the trajectory detector may detect that the robot is in the Triggered after an abnormal state or emergency. 402: Control opening of the semiconductor gating circuit according to the first control signal, so that the power of the driving circuit of the control device of the robot is turned off to cut off the power signal of the robot; wherein the logic control circuit and the driving circuit and the semiconductor gating respectively The control terminal of the circuit is connected, the first connection end of the semiconductor gating circuit is connected to the external power source, the second connection end of the semiconductor gating circuit is connected to the driving circuit, and the driving circuit is also connected to the robot.

In the present embodiment, the control device of the robot controls the disconnection of the semiconductor gate circuit in accordance with the first control signal to turn off the power of the drive circuit of the control device of the robot to cut off the power signal of the robot. The first control signal is an enable signal for controlling the on and off of the semiconductor gating circuit, such as a high level or a low level.

Specifically, the first stop instruction is preset in the logic control circuit, and when the robot is in an abnormal state or an emergency state, for example, when the track detector detects that the robot encounters an unexpected situation, such as when the actual track deviates from the preset track, the logic control The circuit issues a first stop command to the drive circuit, and the drive circuit outputs a corresponding stop signal according to a preset command to stop the robot at the fastest speed.

In this embodiment, the robot stops at a position deviating from the original trajectory. When the robot stops for a preset time, for example, after the robot stops for 200 ms, the logic control circuit outputs a first control signal to the semiconductor strobe circuit to The first connection end of the semiconductor gating circuit is disconnected from the gating branch where the second connection end is located to isolate the high voltage.

Here, it should be noted that the foregoing first triggering command is triggered when the robot 13 is in an abnormal condition or an emergency situation, that is, the stopping operation of the above embodiment is mainly when the robot 13 is in an abnormal state or an emergency state. Triggered to stop the robot at the fastest speed in response to an emergency. However, this stop operation not only causes a certain degree of damage to the robot, but also the robot cannot stop on the original trajectory.

In the present embodiment, the control device of the robot further includes a controller, and the controller is connected to the drive circuit.

Specifically, the controller is configured to send a second control signal to the driving circuit when receiving the second triggering instruction, and the driving circuit controls the robot to stop working according to the preset program according to the second control signal.

In one embodiment, the driving circuit includes a driving control circuit and a driving power circuit, wherein the driving control circuit is connected to the controller; the driving power circuit is connected to the second connection end of the semiconductor gating circuit to receive the power signal; The power circuit is also connected to the robot.

The driving control circuit determines a control algorithm matching the control signal according to the control signal of the controller; the driving power circuit outputs a corresponding driving power signal according to the control algorithm, so that the robot stops working according to the driving power signal.

Specifically, after receiving the second triggering instruction, the second triggering command may be triggered by an operator, for example, the operator triggering is a triggering instruction of the robot stopping, and the controller sends the driving command to the driving circuit according to the second triggering instruction. a second control signal, the drive control circuit in the drive circuit determines a control algorithm matching the control signal according to the control signal of the controller and outputs the control algorithm to the drive power circuit, and the drive power circuit outputs a corresponding drive power signal according to the control algorithm to make the robot Stop working according to the drive power signal. The driving power signal is a PWM pulse width modulation signal.

The stop operation of the present embodiment can stop the robot on the original trajectory without causing damage to the robot.

In another embodiment, in order to isolate the high voltage, different from the above embodiment, after the robot stops, the controller sends a first trigger command to the logic control circuit, and the control device of the robot receives the controller at its logic control circuit. After transmitting the first triggering instruction, outputting a first control signal to the semiconductor strobe circuit, so that the logic control circuit outputs a corresponding control signal to the semiconductor strobe circuit to control the opening of the semiconductor strobe circuit to control the driving circuit. The power is turned off, thereby cutting off the power signal of the robot to isolate the strong electricity.

Here, it should be noted that the first trigger command of the embodiment is sent by the controller. After the robot stops according to the second control signal, in order to isolate the strong power, the controller further issues a first trigger command to break. The semiconductor gate circuit is turned on, thereby cutting off the power signal of the robot.

That is, the source of the first trigger command of the present embodiment is different from the source of the first trigger command triggered by the robot being in an abnormal condition or an emergency. But the purpose of the two is the same, both disconnect the semiconductor gating circuit, and thus cut off the power signal of the robot.

Different from the prior art, the control device of the robot of the present embodiment includes a semiconductor gating circuit. After receiving the trigger command, the control device of the robot outputs a control signal to the semiconductor gating circuit to control the disconnection of the semiconductor gating circuit to control The power of the drive circuit is disconnected, thereby cutting off the power signal of the robot. The semiconductor strobe circuit disconnects the strobe branch according to the control signal, thereby disconnecting the power supply, thereby avoiding safety hazards caused by personnel operation, and at the same time, prolonging the life of the robot control device, and reducing the power switching process Noise in the room to improve the user experience.

Referring to FIG. 5, FIG. 5 is a schematic structural diagram of an embodiment of a storage medium according to the present invention. In the present embodiment, at least one computer program 501 is stored in the storage medium 50. The program 501 is for executing a method of controlling the stopping of the robot in any of the above embodiments.

The storage medium 50 may be a storage chip, a hard disk, or a portable hard disk or other readable and writable storage tools such as a USB flash drive or an optical disk, and may be a server or the like, which is not specifically limited herein.

The method based on controlling the stopping of the robot has been described in detail above and will not be discussed here.

Different from the prior art, the control device of the robot of the present embodiment includes a semiconductor gating circuit. After receiving the trigger command, the control device of the robot outputs a control signal to the semiconductor gating circuit to control the disconnection of the semiconductor gating circuit to control The power of the drive circuit is disconnected, thereby cutting off the power signal of the robot. The semiconductor strobe circuit disconnects the strobe branch according to the control signal, thereby disconnecting the power supply, thereby avoiding safety hazards caused by personnel operation, and at the same time, prolonging the life of the robot control device, and reducing the power switching process Noise in the room to improve the user experience.

In the several embodiments provided by the present application, it should be understood that the disclosed methods and apparatus may be implemented in other manners. The device implementations described above are merely illustrative. For example, the division of modules or units is only a logical function division. In actual implementation, there may be another division manner. For example, multiple units or components may be combined or integrated. Go to another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.

The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. An integrated unit, if implemented in the form of a software functional unit and sold or used as a standalone product, can be stored in a computer readable storage medium.

Based on such understanding, the technical solution of the present application, in essence or the contribution to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium. A number of instructions are included to cause a computer device (which may be a personal computer, server, or network device, etc.) or a processor to perform all or part of the steps of the various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read only memory (ROM, Read-Only) Memory, random access memory (RAM), disk or optical disk, and other media that can store program code.

The above is only the embodiment of the present invention, and thus does not limit the scope of the patent protection of the present invention, and the equivalent structure or equivalent process transformation made by using the description of the present invention and the contents of the drawings, or directly or indirectly applied to other related The technical field is equally included in the scope of patent protection of the present invention.

Claims (16)

1. A control device for a robot, characterized in that the control device comprises: a logic control circuit, a drive circuit and a semiconductor gating circuit;

   The logic control circuit is respectively connected to the driving circuit and the control end of the semiconductor gating circuit, the first connection end of the semiconductor gating circuit is used for connecting with an external power source, and the second of the semiconductor gating circuit a connection end connected to the driving circuit; the driving circuit is configured to be connected to the robot;

   The logic control circuit is configured to output a first control signal to the semiconductor gating circuit after receiving the first triggering instruction, and control disconnection of the semiconductor gating circuit to control power-off of the driving circuit to The power signal of the robot is cut off.
2. The control device of claim 1 wherein said semiconductor gating circuit comprises a thyristor.
3. The control device according to claim 1, wherein said drive circuit comprises a drive control circuit and a drive power circuit connected to said drive control circuit.
4. The control device according to claim 3, wherein said drive control circuit is coupled to said logic control circuit, said drive power circuit being operative to be coupled to said second connection end of said semiconductor gating circuit and said robot.
5. The control device according to claim 1, wherein said control device further comprises a controller, said controller being coupled to said drive circuit;

   The controller is configured to send a second control signal to the driving circuit when receiving the second triggering instruction, and the driving circuit controls the robot to stop working according to the preset program according to the second control signal.
6. The control device according to claim 5, wherein the controller is further connected to the logic control circuit, and after the robot stops working according to the preset program according to the second control signal, The logic control circuit issues an instruction to open the semiconductor gating circuit.
7. The control device according to claim 5 or 6, wherein the drive circuit comprises a drive control circuit and a drive power circuit connected to the drive control circuit;

   The driving control circuit is connected to the controller; the driving power circuit is connected to the second connection end of the semiconductor gating circuit to receive a power signal; the driving power circuit is further configured to be connected to the robot;

   The driving control circuit is configured to determine, according to a control signal of the controller, a control algorithm that matches the control signal; the driving power circuit is configured to output a corresponding driving power signal according to the control algorithm, so that the The robot stops working in accordance with the drive power signal.
8. The control device according to claim 7, wherein said drive power signal is a pulse width modulated signal.
9. A method for controlling stopping of a robot, characterized in that the method for controlling the stopping of the robot comprises:

   The control device of the robot outputs a first control signal to its semiconductor gating circuit after its logic control circuit receives the first trigger command;

   Controlling the disconnection of the semiconductor gating circuit according to the first control signal to turn off the power of the driving circuit of the control device of the robot to cut off the power signal of the robot; wherein the logic control circuit Connected to the control circuit and the control terminal of the semiconductor strobe circuit respectively, the first connection end of the semiconductor strobe circuit is used for connecting with an external power source, and the second connection end of the semiconductor strobe circuit is A drive circuit is coupled; the drive circuit is further configured to be coupled to the robot.
10. The method of controlling the stopping of the robot according to claim 9, wherein the controlling means of the robot outputs the first control signal to the semiconductor gating circuit after the logic control circuit receives the first triggering command, and the method includes:

    After the logic control circuit receives the first trigger command, the logic control circuit sends a stop command to the drive circuit to stop the robot;

    The logic control circuit outputs a first control signal to its semiconductor gating circuit after the robot is stopped.
11. The method for controlling the stopping of a robot according to claim 9, wherein the control means of the robot further comprises: after the logic control circuit outputs the first control signal to the semiconductor gate circuit after receiving the first triggering command;

    The control device of the robot sends a second control signal to the driving circuit when the controller receives the second triggering instruction, so that the driving circuit controls the robot to follow the preset program according to the second control signal. Stop working, and send the first trigger instruction to the logic control circuit;

    The control unit of the robot outputs the first control signal to the semiconductor strobe circuit after the logic control circuit receives the first trigger command, and the method includes:

    The control device of the robot outputs a first control signal to its semiconductor gating circuit after its logic control circuit receives the first trigger command sent by the controller.
12. A method of controlling the stopping of a robot according to any of claims 9-11, wherein said semiconductor gating circuit comprises a thyristor.
13. The method of controlling the stopping of a robot according to claim 11, wherein the control means of the robot transmits a second control signal to the driving circuit when the controller receives the second triggering command, so that the The driving circuit controls the robot to stop working according to the preset control signal according to the second control signal, and sending the triggering instruction to the logic control circuit specifically includes:

    The control device of the robot transmits a second control signal to the driving circuit when the controller receives the second triggering command, so that the driving circuit determines that the control signal matches the second control signal according to the second control signal. Controlling an algorithm, and outputting a corresponding driving power signal according to the control algorithm, so that the robot stops working according to the driving power signal, and sends a triggering instruction to the logic control circuit.
14. The method of controlling the stopping of a robot according to claim 13, wherein the driving power signal is a pulse width modulation signal.
15. A storage medium characterized in that a computer program is stored on the storage medium, and the program can be executed to implement the method of controlling the stopping of the robot according to any one of claims 9 to 14.
16. A robot system, characterized in that the robot system comprises a robot control device, a robot and an external power source;

    The control device of the robot includes a logic control circuit, a driving circuit, and a semiconductor gating circuit;

    The logic control circuit is respectively connected to the driving circuit and the control end of the semiconductor gating circuit, the first connection end of the semiconductor gating circuit is connected to the external power source, and the second side of the semiconductor gating circuit a connection end connected to the driving circuit; the driving circuit is connected to the robot;

    The logic control circuit is configured to output a first control signal to the semiconductor gating circuit after receiving the first triggering instruction, and control disconnection of the semiconductor gating circuit to control power-off of the driving circuit to The power signal of the robot is cut off.