CN114142765A

CN114142765A - Energy release circuit, energy release device and robot

Info

Publication number: CN114142765A
Application number: CN202111422570.6A
Authority: CN
Inventors: 高日利; 雷春华; 明汝
Original assignee: Shenzhen Ubtech Technology Co ltd
Current assignee: Shenzhen Ubtech Technology Co ltd
Priority date: 2021-11-26
Filing date: 2021-11-26
Publication date: 2022-03-04

Abstract

The application belongs to the technical field of the bleeder circuit, provides an energy bleeder circuit, energy release and robot, and wherein, the energy bleeder circuit includes: power bus, the brake resistance module, the current detection module, host system and multichannel relay module, detect the electric current in the brake resistance module through the current detection module, and generate the current detection signal, host system receives the current detection signal, and generate the control signal of bleeding according to the current detection signal, multichannel relay module carries out switch switching control according to the control signal of bleeding, with the passageway of bleeding of switching brake resistance module, finally bleed by the back electromotive force that the brake resistance module produced the motor drive, the longer problem of braking distance that the back electromotive force that has solved current battery absorption robot exists.

Description

Energy release circuit, energy release device and robot

Technical Field

The application belongs to the technical field of a release circuit, and particularly relates to an energy release circuit, an energy release device and a robot.

Background

Nowadays, the application scenes of robots are more and more complex due to the rapid development of the robot technology. In the face of complex scenes, such as application scenes that sudden stop is needed, automatic startup of the robot due to back electromotive force is prevented, rapid stop is needed due to faults, and the like, the robot has high requirements on braking. Most of the robots in the market absorb the counter electromotive force of the robots through batteries.

However, the problem that the braking distance of the robot is long is often caused by absorbing the counter electromotive force of the robot by using a battery.

Disclosure of Invention

In order to solve the technical problem, the embodiment of the application provides an energy release circuit, an energy release device and a robot, which can solve the problem that the existing robot has a longer braking distance.

A first aspect of an embodiment of the present application provides an energy bleeding circuit, including:

the power bus is connected with the motor driver;

the braking resistance module is connected with the power bus and used for releasing back electromotive force generated by the motor driver;

the current detection module is connected with the brake resistance module and used for detecting the current on the brake resistance module and generating a current detection signal;

the main control module is connected with the current detection module and used for receiving the current detection signal and generating a discharge control signal according to the current detection signal;

and the multi-path relay module is connected with the main control module, the power bus and the brake resistance module and used for switching a release channel of the brake resistance module according to the release control signal.

In one embodiment, the multiplex relay module comprises:

a relay power port;

the normally closed relay unit is connected with the power supply bus, when the motor driver is in a shutdown state, the normally closed relay unit is in a closed state, and when the motor driver is in an operating state, the normally closed relay unit is in a disconnected state;

the normally open relay unit is connected with the power bus, when the motor driver is in a starting state, the normally open relay unit is in a disconnected state, and when the motor driver is in an operating state, the normally open relay unit is in a closed state;

and the current limiting unit is connected with the relay power supply port, the normally closed relay unit and the normally open relay unit, and is used for performing current limiting processing on a relay voltage signal input by the relay power supply port and supplying power to the normally closed relay unit and the normally open relay unit.

In one embodiment, the brake resistor module includes:

the first brake resistor unit is connected with the normally closed relay unit and is used for forming a release loop with the normally closed relay unit when the motor driver is in a shutdown state;

and the second brake resistance unit is connected with the normally open relay unit and is used for forming a release loop with the normally open relay unit when the motor driver is in an operating state.

In one embodiment, the energy bleed off circuit further comprises:

and the power switch module is respectively connected with the power input port, the power bus, the motor driver and the main control module and used for conducting or switching off according to a power switch control signal provided by the main control module so as to control the connection state between the power bus and the motor driver.

In one embodiment, the energy bleed off circuit further comprises:

and the optical coupling isolation module is arranged between the multi-path relay module and the main control module and used for carrying out optical coupling isolation on signals between the main control module and the multi-path relay module and carrying out filtering processing on the release control signals.

In one embodiment, the light coupling isolation module comprises: the circuit comprises a first switch tube, a third resistor, a second capacitor, a nineteenth resistor, a twentieth resistor, an optical coupling isolation chip and an optical coupling isolation power port;

the first end of the first switch tube is connected with the first light-emitting control end of the optical coupling isolation chip, the second light-emitting control end of the optical coupling isolation chip is connected with the first end of the nineteenth resistor, the first light-receiving control end of the optical coupling isolation chip is connected with the multi-way relay module, the second end of the first switch tube is connected with the second end of the third resistor and the second end of the second capacitor, the third end of the first switch tube is connected with the first end of the third resistor and the first end of the second capacitor is connected with the second end of the twentieth resistor, the first end of the twentieth resistor is connected with the main control module, and the second end of the nineteenth resistor is connected with the optical coupling isolation power supply port.

In one embodiment, the energy bleed off circuit further comprises:

and the switch control module is respectively connected with the second brake resistance unit and the main control module and is used for controlling the on-off of the discharge loop of the second brake resistance unit according to the switch control signal provided by the main control module.

In one embodiment, the current sense signal includes a first current sense signal and a second current sense signal;

the current detection module samples the first brake resistance unit and the second brake resistance unit and respectively generates a first current detection signal and a second current detection signal;

the main control module is used for generating the bleeding control signal when the current directions of the first current detection signal and the second current detection signal are changed.

A second aspect of embodiments of the present application provides an energy discharge device comprising an energy discharge circuit as described in any of the above.

A third aspect of embodiments of the present application provides a robot, including: a robot body; the motor driver is used for driving the robot body to move; and the energy discharge circuit is used for discharging back electromotive force generated by the motor driver.

The embodiment of the application provides an energy bleeder circuit, energy release and robot, wherein, the energy bleeder circuit includes: power bus, the brake resistance module, the current detection module, host system and multichannel relay module, detect the electric current in the brake resistance module through the current detection module, and generate the current detection signal, host system, receive the current detection signal, and generate the control signal of bleeding according to the current detection signal, multichannel relay module, carry out switch switching control according to the control signal of bleeding, with the passageway of bleeding of switching brake resistance module, the final counter electromotive force who produces motor drive by the brake resistance module is bled, the longer problem of robot braking distance that the counter electromotive force of having solved current battery absorption robot exists.

Drawings

Fig. 1 is a schematic circuit diagram of an energy bleeding circuit according to an embodiment of the present application;

fig. 2 is a schematic circuit diagram of an energy discharge circuit according to another embodiment of the present application;

fig. 3 is a schematic circuit diagram of an energy discharge circuit according to another embodiment of the present application;

fig. 4 is a schematic circuit diagram of a power switch module according to an embodiment of the present application;

fig. 5 is a schematic circuit diagram illustrating a connection between the optical coupling isolation module and the multi-path relay module and a brake resistor module according to an embodiment of the present disclosure;

FIG. 6 is a schematic circuit diagram of a switch control module according to an embodiment of the present application;

fig. 7 is a schematic circuit diagram of a current detection module according to an embodiment of the present application.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, refer to an orientation or positional relationship illustrated in the drawings for convenience in describing the present application and to simplify description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present application, "a plurality" means one or more unless specifically limited otherwise.

In an electronic apparatus with an electric motor, when the DC motor is initially started, a magnetic field is established by a field winding, armature current generates another magnetic field, the two magnetic fields interact, the motor is started to operate, an armature winding rotates in the magnetic field, therefore, a generator effect is generated, and actually, the armature is rotated to generate an induced electromotive force with the polarity opposite to that of the armature voltage, and the self-induced electromotive force is called counter electromotive force. When the rotor in the motor rotates, there is relative motion with respect to the stator coils, a variable magnetic field is generated in the coils, and then counter electromotive force is generated on the conductors of the coils in response to the magnetic field variation. Nowadays, the application scenarios of robots are more and more complex, and in the face of complex scenarios, such as application scenarios requiring sudden stop, preventing robots from being automatically started due to back electromotive force and requiring rapid stop due to failure, the robots often have higher requirements on braking.

Most of robots in the market absorb the counter electromotive force of the robots through batteries, but the batteries directly absorb the counter electromotive force to bring about several problems, on one hand, the braking distance is lengthened due to battery absorption, on the other hand, when the electric quantity of the batteries is close to the rated capacity, the situation of absorbing the braking energy is the same as that the batteries are charged by high power, so that the risk is brought to the batteries, and the batteries have no way of avoiding the problem that the starting is possibly caused by the counter electromotive force generated when the machines are quickly pushed or slide on a slope when the machines are shut down.

In order to solve the above technical problem, an embodiment of the present application provides an energy bleeding circuit, which is shown in fig. 1 and includes: the brake circuit comprises a power bus 20, a brake resistor module 30, a current detection module 40, a main control module 50 and a multi-way relay module 60.

Specifically, the power bus 20 is connected to the motor driver 10, the braking resistor module 30 is connected to the power bus 20, and the braking resistor module 30 is configured to discharge back electromotive force generated by the motor driver 10.

In this embodiment, when the robot is pushed in a shutdown state or slips down a slope by itself, or when the robot is in a startup state and needs to be decelerated or suddenly stopped, the motor driver 10 may generate a back electromotive force in a running state, and the faster the motor driver 10 runs, the greater the generated back electromotive force is, and at this time, the back electromotive force is collected on the power bus 20 by the driver power supply, and at this time, the back electromotive force generated by the motor driver 10 can be eliminated by the braking resistance module 30, so as to eliminate a danger that the robot is restarted due to the back electromotive force in the shutdown state, and reduce a braking distance of deceleration or sudden stop of the robot in the startup state.

Further, referring to fig. 1, a current detection module 40 is connected to the brake resistor module 30, and the current detection module 40 is configured to detect a current flowing through the brake resistor module 30 and generate a current detection signal.

In this embodiment, the current detection module 40 is configured to detect the current of the braking resistance module 30 to determine whether a back electromotive force is generated, specifically, the back electromotive force is generated by a trend of a change of the back electromotive force, when the motor driver 10 is running, the back electromotive force is generated, by detecting a current waveform of the braking resistance module 30, it is detected whether the back electromotive force is generated, and by detecting the current, a current detection signal is generated and transmitted to the main control module 50 to determine whether the braking resistance module 30 needs to perform the release of the back electromotive force.

Further, referring to fig. 1, the main control module 50 is connected to the current detection module 40, the main control module 50 is configured to receive a current detection signal and generate a bleeding control signal according to the current detection signal, the multi-relay module 60 is respectively connected to the main control module 50, the power bus 20, and the braking resistance module 30, and the multi-relay module 60 is configured to perform switching control according to the bleeding control signal so as to switch a bleeding channel of the braking resistance module 30.

In this embodiment, the main control module 50 receives the current detection signal, generates a bleeding control signal according to the current detection signal, and sends the bleeding control signal to the multi-relay module 60, and the main control module 50 determines the current detection signal to determine whether the motor driver 10 generates a back electromotive force, for example, determines whether a current direction of the current detection signal changes, or determines whether a current is generated on the brake resistance module 30 when the robot is in a standby state, so as to determine whether the motor driver 10 generates a back electromotive force.

The multi-relay module 60 performs switching control according to the bleed-off control signal, and switches the bleed-off channel of the braking resistor module 30 through the multi-relay module 60 to bleed off the back electromotive force generated by the motor driver 10.

Specifically, after receiving the current detection signal, the main control module 50 compares the current detection signal with a preset current threshold, and determines whether there is a back electromotive force, for example, when the current detection signal is smaller than the preset current threshold, it is determined that there is no back electromotive force, or the existing back electromotive force is not enough to start the motor and cause a danger, then a bleeding control signal is not generated, when the current detection signal is larger than the preset current threshold, it is determined that there is a back electromotive force, then a bleeding control signal is generated, and then the multi-path relay switches a bleeding channel of the braking resistance module 30 according to the bleeding control signal to perform bleeding of the back electromotive force.

In one embodiment, the main control module 50 may be a comparator circuit composed of a comparator and a peripheral resistor thereof, the comparator circuit compares the current detection signal with a preset current threshold, and generates a corresponding comparison signal according to the voltage magnitude of the two, the comparison signal may be a bleeding control signal or a switching control signal, for example, if the comparison signal is high level, it indicates that there is a back electromotive force, and if the comparison signal is low level, it indicates that there is no back electromotive force.

In one embodiment, referring to fig. 1 and 7, the current detection module 40 may detect the current of the brake resistor module 30 in real time and generate a current detection signal. For example, the current detection module 40 detects the current of the brake resistor module 30 at preset time intervals, and generates a current detection signal to be transmitted to the main control module 50.

Specifically, the current detection module 40 may be composed of a sampling resistor, and the braking resistor module 30 is connected in series with the sampling resistor to serve as a current detection signal by converting a current flowing through the sampling resistor into a corresponding voltage signal.

In one embodiment, referring to fig. 1 and 7, the current detection module 40 detects the current on the brake resistance module 30 at preset time intervals and generates a current detection signal to be sent to the main control module 50, where the preset time intervals for the current detection on the brake resistance module 30 by the current detection module 40 in the power-on state and the preset time intervals for the current detection on the brake resistance module 30 in the power-off state of the robot may be different, for example, the current on the brake resistance module 30 is detected at every first preset time interval in the power-off state of the robot and the current detection signal is sent to the main control module 50, and the current on the brake resistance module 30 is detected at every second preset time interval in the power-on state of the robot and the current detection signal is sent to the main control module 50.

In a specific application, the first preset time interval and the second preset time interval may be different, for example, the second preset time interval in the power-on state may be set to be smaller than the first preset time interval, so that the robot may detect the current change condition on the brake resistor module 30 at a faster frequency in the power-on state to cope with an emergency situation of the robot in the power-on state, so that the robot may brake in a shorter time, thereby shortening the braking distance of the robot.

In one embodiment, as shown with reference to fig. 1, the multiplex relay module 60 includes: a relay power supply port VCC _12V, a normally closed relay unit 61, a normally open relay unit 62, and a current limiting unit 63.

Specifically, normally closed relay unit 61 is connected with power bus 20, when motor driver 10 is in the shutdown state, normally closed relay unit 61 is in the closure state, motor driver 10 is in the running state, normally closed relay unit 61 is in the off-state, normally open relay unit 62 is connected with power bus 20, when motor driver 10 is in the shutdown state, normally open relay unit 62 is in the off-state, when motor driver 10 is in the running state, normally open relay unit 62 is in the on-state, current-limiting unit 63 and relay power supply port VCC _12V, normally closed relay unit 61, normally open relay unit 62 is connected, be used for carrying out the current-limiting to the relay voltage signal of relay power supply port VCC _12V input by current-limiting unit 63, and supply power to normally closed relay unit 61, normally open relay unit 62.

In this embodiment, referring to fig. 1, when the robot is in the shutdown state, the motor driver 10 is in the shutdown non-running state, the normally closed relay unit 61 is in the closed state, the normally open relay unit 62 is in the open state, at this time, the current detection module 40 forms a loop with the power bus 20 through the normally closed relay unit 61, when the robot is in the startup state, the motor driver 10 is in the running state, at this time, the normally closed relay unit 61 is in the open state, the normally open relay unit 62 is in the closed state, at this time, the current detection module 40 forms a loop with the power bus 20 through the normally open relay unit 62, the current detection module 40 can detect the current on the brake resistance module 30 in real time through the closed loop, and generate a current detection signal to send to the main control module 50.

In this embodiment, the relay power port VCC _12V is used as an internal power supply of the relay, and is configured to supply power to a plurality of relay units in the multi-relay module 60, the current limiting unit 63 performs current limiting processing on an internal power signal sent by the internal power supply of the multi-relay module 60, and the current limiting unit 63 is mainly connected in series or in parallel to a circuit through a resistor, so as to limit the magnitude of a current of a branch where the current is located, so as to prevent the current from being too large and burning out components connected in series, and meanwhile, the current limiting resistor can also perform a voltage division function.

In this embodiment, referring to fig. 5, the current limiting unit 63 includes a first resistor R1, a second resistor R2, and a first capacitor C1, wherein the first resistor R1 and the second resistor R2 are connected in parallel in a circuit, a first end of the first resistor R1, a first end of the second resistor R2, and a first end of the first capacitor C1 are connected to an internal power supply in common, a second end of the first resistor R1 and a second end of the second resistor R2 are connected to the multi-relay module 60 in common, a second end of the first capacitor C1 is connected to ground, and the first capacitor C1 can filter noise signals of the internal power supply of the multi-relay module 60.

In one embodiment, as shown in fig. 1 and 5, the braking resistance module 30 includes a first braking resistance unit 31 and a second braking resistance unit 32.

Specifically, referring to fig. 5, the first brake resistance unit 31 is connected to the normally closed Relay unit 61, a first end of the first brake resistance unit 31 is connected to a first end of the contact group of the normally closed Relay unit 61, a second end of the first brake resistance unit 31 is grounded, and a second end Relay _ OFF1 of the contact group of the normally closed Relay unit 61 is connected to the power bus 20.

Further, a fourteenth resistor R14 is further provided between the second end of the contact group of the normally closed relay unit 61 and the power bus bar 20.

Specifically, referring to fig. 5, the second brake resistor unit 32 is connected to the normally open Relay unit 62, a first end of the second brake resistor unit 32 is connected to a first end of a contact group of the normally open Relay unit 62, a second end ZD of the second brake resistor unit 32 is grounded, and a second end Relay _ ON1 of the contact group of the normally open Relay unit 62 is connected to the power bus 20.

Further, a fifteenth resistor R15 is disposed between the second end of the contact group of the normally open relay unit 62 and the power bus 20.

In the present embodiment, when the motor driver 10 is in the shutdown state, the first braking resistance unit 31 is configured to form a leakage loop with the normally closed relay unit 61, and the second braking resistance unit 32 is connected with the normally open relay unit 62, and when the motor driver 10 is in the operating state, is configured to form a leakage loop with the normally open relay unit 62.

In this embodiment, when the motor driver 10 is in the shutdown state, the normally closed relay unit 61 is in the closed state, the normally open relay unit 62 is in the open state, the current detection module 40 sends the detected current detection signal to the main control module 50 through the normally closed relay unit 61, and when the counter electromotive force needs to be released, the first brake resistor unit 31, the normally closed relay unit 61 and the power bus 20 form a passage to release the counter electromotive force, so as to consume the counter electromotive force energy, thereby preventing the motor from being restarted due to the counter electromotive force, and causing danger.

Under motor driver 10 is in the running state, normally closed relay unit 61 is in the off-state, normally open relay unit 62 is in the closed state, current detection module 40 sends the current detection signal that detects to host system 50 through normally open relay unit 62, when host system 50 judges that the counter electromotive force needs to be let out, then second brake resistance unit 32 and normally open relay unit 62, power bus 20 forms the route, release the counter electromotive force, with the consumption of counter electromotive force energy, make the robot can park fast in short time, braking distance has been shortened.

In this embodiment, referring to fig. 1 and 5, the first brake resistor unit 31 may be a resistor accessed by the first brake resistor unit interface J3, and the second brake resistor unit 32 may be a resistor accessed by the second brake resistor unit interface J4.

Through setting up two solitary brake resistance of first brake resistance unit 31 and second brake resistance unit 32, can deal with different back electromotive force circumstances and form different back electromotive force bleeder circuits, make the robot can select different back electromotive force bleeder circuits under the different situation that needs the braking, for single brake circuit, the application scene of robot has been increased, the probability that the robot breaks down because back electromotive force bleeder circuit is single has been reduced, the security of robot has been promoted, the longer problem of robot braking distance that the back electromotive force of current battery absorption robot exists has been solved.

In one embodiment, as shown in fig. 5, a seventeenth resistor R17 is further disposed between the first braking resistor unit 31 and the normally closed relay unit 61, and the seventeenth resistor R17 is used as a current sampling resistor to sample a first current detection signal obtained by sampling a current flowing through the normally closed relay unit 61 and send the first current detection signal to the main control module 50.

In one embodiment, as shown in fig. 5, an eighteenth resistor R18 is further disposed between the second brake resistor unit 32 and the normally open relay unit 62, and the eighteenth resistor R18 is used as a current sampling resistor to sample the current flowing through the normally open relay unit 62 to obtain a second current detection signal, and send the second current detection signal to the main control module 50.

In one embodiment, as shown with reference to fig. 2 and 4, the energy bleed circuit further includes a power switch module 70.

Specifically, the power switch module 70 is respectively connected to the power input port J1, the power bus 20, the motor driver 10, and the main control module 50, and the power switch module 70 is configured to be turned on or off according to a power switch control signal provided by the main control module 50 to control a connection state between the power input port J1 and the motor driver 10.

In this embodiment, referring to fig. 2 and 4, the power switch module 70 is used to control a connection state between the power input port J1 and the motor driver 10, and the motor driver 10 is connected to the power output port J2, for example, when the robot is started or needs to move, the main control module 50 sends a first power switch control signal to the power switch module 70, and then the power switch module 70 is closed, so that the power input port J1 is connected to the motor driver 10, and the robot motor operates normally to drive the robot to work.

When the robot breaks down or meets emergency in the traveling process and needs to be stopped suddenly, the main control module 50 sends a corresponding power switch control signal DRIVE _ PWR _ CTL to the power switch module 70, so that the power switch module 70 is disconnected, the power input port J1 is disconnected with the motor driver 10, the motor driver 10 is powered off and stops supplying power to the robot, meanwhile, the main control module 50 controls the normally closed relay unit 61 to be closed, the normally open relay unit 62 is disconnected, the first brake resistor unit 31, the normally closed relay unit 61 and the power bus 20 form a passage, the counter electromotive force is released, the counter electromotive force energy is consumed, the robot can be stopped quickly in a short time, the braking distance is shortened, and the robot is prevented from being dangerous.

In one embodiment, when the robot needs to decelerate during traveling, the current detection module 40 detects whether a back electromotive force is generated by detecting a current waveform on the brake resistor module 30, and generates a current detection signal by detecting the current to transmit to the main control module 50, the main control module 50 sends a corresponding power switch control signal DRIVE _ PWR _ CTL to the power switch module 70, so that the power switch module 70 continues to maintain a closed state, the power input port J1 maintains a connection state with the motor driver 10, the motor continues to provide energy to the robot, the main control module 50 controls the normally open relay unit 62 to continue to be in a closed state, the normally closed relay unit 61 continues to maintain an open state, the second brake resistor unit 32 forms a path with the normally open relay unit 62 and the power bus 20 to release the back electromotive force, the counter electromotive force energy is consumed, so that the robot can decelerate in a short time, the braking distance is shortened, and the robot is prevented from being dangerous.

In one embodiment, referring to fig. 4, the power switch module 70 is connected to the motor driver 10 through the power bus 20, wherein the power switch module 70 includes a fourth capacitor C4, a fifth capacitor C5, a sixth capacitor C6, a seventh capacitor C7, an eighth capacitor C8, a ninth capacitor C9, a first transistor D1, a second transistor D2, a fifth resistor R5, a sixth resistor R6, a seventh resistor R7, an eighth resistor R8, a ninth resistor R9, a tenth resistor R10, an eleventh resistor R11, a twelfth resistor R12, a thirteenth resistor R13, a fourteenth resistor R14, a fifteenth resistor R15, a fourth switch Q4, and a sixth switch Q6.

Specifically, a first end of the first transistor D1, a first end of the fourth capacitor C4, a first end of the fifth capacitor C5, and a first end of the sixth capacitor C6 are commonly connected to the power input port J1, the power input port J1 is used for connecting the power bus 20 and an input power source, a second end of the first transistor D1, a second end of the fourth capacitor C4, a second end of the fifth capacitor C5, and a second end of the sixth capacitor C6 are grounded, the sixth resistor R6 is connected to the power bus, a first end of the fifth resistor R5 is connected to a first end of the sixth resistor R6, a second end of the fifth resistor R5 is connected to the power terminal SYS _24V for leading out the input power source, a first end of the seventh resistor R7 is connected to a second end of the sixth resistor R6, and a second end of the seventh resistor R7 is connected to the power terminal SYS _24V for leading out the input power source.

The fourth switching tube Q4 is disposed between the power input port J1 and the power output port J2, and is configured to control a connection state between the power input port J1 and the power output port J2, specifically, a first end of a seventh capacitor C7 is connected to a first end of an eighth resistor R8 and a first end of a fourth switching tube Q4 and is commonly connected to a second end of a sixth resistor R6, a second end of a seventh capacitor C7 is connected to a second end of the eighth resistor R8 and a control end of a fourth switching tube Q4 and is commonly connected to a first end of an eleventh resistor R11, and a second end of the fourth switching tube Q4 is connected to the power output port J2 through a power bus and is connected to the motor driver 10 through the power output port J2.

A second end of the eleventh resistor R11 is connected to a collector of the sixth switching tube Q6, a second end of the twelfth resistor R12 is connected to a first end of the ninth capacitor C9, a first end of the thirteenth resistor R13 and a base of the sixth switching tube Q6, a second end of the ninth capacitor C9 is connected to a second end of the thirteenth resistor R13 and an emitter of the sixth switching tube Q6, and a first end of the twelfth resistor R12 is connected to the driving control terminal DRIVE _ PWR _ CTL of the main control module 50.

In this embodiment, the first end of the twelfth resistor R12 is configured to receive a power switch control signal sent by the main control module 50, and the sixth switching tube Q6 is turned on or off according to the power switch control signal, for example, if the power switch control signal DRIVE _ PWR _ CTL is at a high level, the sixth switching tube Q6 is turned on, the level of the control end of the fourth switching tube Q4 is pulled low, the fourth switching tube Q4 is turned on, at this time, the power input port J1 and the power output port J2 are turned on, if the power switch control signal DRIVE _ PWR _ CTL is at a low level, the sixth switching tube Q6 is turned off, the level of the control end of the fourth switching tube Q4 is pulled high, the fourth switching tube Q4 is turned off, at this time, the power input port J1 and the power output port J2 are turned off.

A first end of an eighth capacitor C8 is connected to a first end of a ninth resistor R9 and a second end of a fourth switch Q4 and is commonly connected to the power bus 20, a second end of the eighth capacitor C8 is grounded to a second end of the ninth resistor R9, a first end of a tenth resistor R10 is connected to the power bus 20, a second end of a tenth resistor R10 is connected to a first end of a second transistor D2, a second end of the second transistor D2 is grounded, a first end of a fourteenth resistor R14 is connected to a first end of a fifteenth resistor R15 and the power bus 20, a second end of a fourteenth resistor R14 is connected to the normally-closed Relay unit 61(Relay _ OFF1), and a second end of the fifteenth resistor R15 is connected to the normally-open Relay unit 62(Relay _ ON 1).

In this embodiment, the fourth capacitor C4, the fifth capacitor C5, and the sixth capacitor C6 form an input filter circuit, and the first transistor D1 may be a voltage regulator tube, which is used as an input voltage regulator device to regulate the voltage of the power input interface J1.

In one embodiment, the fourth switching transistor Q4 is a P-type MOS transistor, and the sixth switching transistor Q6 is an NPN-type transistor.

In one embodiment, as shown with reference to fig. 3 and 5, the energy bleed circuit further includes an opto-isolator module 80.

Specifically, referring to fig. 5, the optical coupling isolation module 80 is disposed between the multi-relay module 60 and the main control module 50, and is configured to isolate the main control module 50 from the multi-relay module 60 and perform filtering processing on the bleed-off control signal.

In this embodiment, the current detection module 40 can detect the current in the brake resistor module 30 in real time and generate a current detection signal, the main control module 50 receives the current detection signal, generates a bleeding control signal according to the current detection signal, and sends the bleeding control signal to the multi-path relay module 60, wherein the bleeding control signal is accompanied by signal noise, and the bleeding control signal also generates signal interference during signal transmission, the optical coupler isolation module 80 can effectively perform signal isolation, since the optical coupler is in unidirectional transmission, unidirectional transmission of signals can be realized, so that the main control module 50 and the multi-path relay module 60 can completely realize electrical isolation, the signals of the multi-path relay module 60 have no influence on the main control module 50, the optical coupler isolation module 80 has strong anti-interference capability and stable operation, and can allow signals of a certain frequency band to pass, the frequency band is different from the low-frequency signal of the low-pass filter and the high-frequency signal of the high-pass filter, is a signal in a certain middle frequency band, and suppresses signals, interference and noise which are lower or higher than the frequency band, so that the effect of filtering signal interference is achieved.

In one embodiment, as shown with reference to fig. 5, the light coupling and isolation module 80 includes: the circuit comprises a first switch tube Q1, a third resistor R3, a second capacitor C2, a nineteenth resistor R19, a twentieth resistor R20 and an optical coupling isolation chip U1.

The first end of the first switch tube Q1 is connected with the first light-emitting control end of the optical coupling isolation chip U1, the second light-emitting control end of the optical coupling isolation chip U1 is connected with the first end of the nineteenth resistor R19, the first light-receiving control end of the optical coupling isolation chip U1 is connected with the multi-way relay module 60, the second end of the first switch tube Q1 is connected with the second end of the third resistor R3 and the second end of the second capacitor C2 are both grounded, the third end of the first switch tube Q1 is connected with the first end of the third resistor R3, the first end of the second capacitor C2 is connected with the second end of the twentieth resistor R20, the first end of the twentieth resistor R20 is connected with the main control module 50, and the second end of the nineteenth resistor R19 is connected with the optical coupling isolation power supply VCC _ 5V.

As shown in fig. 5, the third resistor R3, the second capacitor C2, and the twentieth resistor R20 form a filter circuit for storing energy and filtering according to the bleeding control signal provided by the main control module 50, the optical coupling isolation chip U1 is disposed between the main control module 50 and the multi-relay module 60, and the optical coupling isolation chip U1 is used for performing optical coupling isolation on signal transmission between the main control module 50 and the multi-relay module 60.

In this embodiment, the filtering circuit composed of the third resistor R3, the second capacitor C2, and the twentieth resistor R20 may store energy and filter according to the bleeding control signal provided by the main control module 50, so that only a signal in a certain frequency band is allowed to pass through, the frequency band is different from the low-frequency signal of the low-pass filter and the high-frequency signal of the high-pass filter, and is a signal in a certain middle frequency band, and the signal, interference, and noise lower than or higher than the frequency band are suppressed, thereby achieving the effect of filtering signal interference.

In one embodiment, referring to fig. 5, the optocoupler isolation chip U1 is composed of three parts: a light emitting control terminal (e.g., a diode), and a light receiving control terminal. Specifically, the input electrical signal drives the Light Emitting Diode (LED) to emit light with a certain wavelength, the light is received by the optical detector to generate photocurrent, the photocurrent is further amplified and then output, the conversion of electricity, light and electricity is completed, and the functions of input, output and isolation are achieved, because the input and the output of the optical coupler are isolated from each other, the electrical signal transmission has the characteristic of unidirectionality, and the like, the optical coupler has good electrical insulation capability and anti-interference capability, and because the input end of the optical coupler belongs to a low-resistance element working in a current mode, the optical coupler isolation chip U1 has strong common-mode rejection capability, the signal-to-noise ratio can be greatly improved, the signal unidirectional transmission is achieved, the electrical isolation is completely achieved between the input end of the main control module 50 and the output end of the multi-path relay 60, the output signal has no influence on the input end, the anti-interference capability is strong, and the work is stable, no contact, long service life, high transmission efficiency and the like.

In an embodiment, referring to fig. 5, the twentieth resistor R20 is configured to perform current limiting processing on the bleeding control signal MCU _ CTL _ Relay sent by the main control module 50, one end of the optical coupling isolation chip U1 is connected in series with a nineteenth resistor R19 to be connected to the power port VCC5V, so as to supply power to a light emitting end thereof, for example, the power port VCC5V is connected to a 5V power supply, a first end of the twenty-first resistor R21 and a base of the fifth switch Q5 are connected to the optical coupling isolation chip U1 in common, a second end of the twenty-first resistor R21 and an emitter of the fifth switch Q5 and a second end of the tenth capacitor C10 are connected to ground, and a collector of the fifth switch Q5 and a first end of the tenth capacitor C10 are connected to the optical coupling isolation chip U1.

The first end of the third switch tube Q3 is connected with the optical coupling isolation chip U1, the second end of the third switch tube Q3 is connected with the current limiting unit 63, the current limiting unit 63 is connected with the first end of the relay coil of the multi-path relay module 60, and the second end of the relay coil of the multi-path relay module 60 is connected with the optical coupling isolation chip U1.

The first end of normally closed relay unit 61 is connected with the first end of first braking resistance unit interface J3 through seventeenth resistance R17, the second end ground of first braking resistance unit interface J3, the second end of normally closed relay unit 61 is connected with the second end of fourteenth resistance R14, the first end of normally open relay unit 62 is connected with second braking resistance unit interface J4 through eighteenth resistance R18, the second end of normally open relay unit 62 is connected with the second end of fifteenth resistance R15.

As shown in fig. 5, the normally closed relay unit 61 and the normally open relay unit 62 may be integrated into a multiplex relay, and at this time, the normally closed relay unit 61 and the normally open relay unit 62 share one relay coil, and the normally closed relay unit 61 and the normally open relay unit 62 are not turned on at the same time, and are not turned off at the same time.

In this embodiment, the bleeding control signal provided by the main control module 50 is subjected to signal conversion by the optocoupler isolation chip U1, so as to control power-on and power-off of the relay coil of the multi-path relay module 60, for example, the bleeding control signal provided by the main control module 50 is at a high level, the first switching tube Q1 is turned on, the fifth switching tube Q5 is turned on, the relay coil of the multi-path relay module 60 is powered on, the normally closed relay unit 61 is opened, the normally open relay unit 62 is closed, the power input interface of the motor driver 10 is grounded through the second brake resistor unit 32, and energy bleeding is performed on the counter electromotive force of the power input interface.

In one embodiment, the optically coupled isolator chip U1 may be of the type PC 81710.

In one embodiment, as shown in conjunction with fig. 3 and 6, the energy bleed circuit further includes a switch control module 90.

Specifically, referring to fig. 6, in this embodiment, the switch control module 90 is connected to the second brake resistor unit 32 and the main control module 50, and the switch control module 90 is configured to control on/off of the bleeding circuit of the second brake resistor unit 32 according to a switch control signal provided by the main control module 50.

When the robot needs to decelerate during the traveling process, the current detection module 40 can detect whether a back electromotive force is generated by detecting a current waveform on the brake resistance module 30, and generate a current detection signal to be transmitted to the main control module 50 by detecting the current, if the main control module 50 determines that the motor driver 10 generates the back electromotive force, the main control module 50 transmits a corresponding bleeding control signal MCU _ CTL _ Relay to the multi-way Relay module 60, so that the normally open Relay unit 62 is continuously in a closed state, the normally closed Relay unit 61 is continuously in an open state, after the normally open Relay unit 62 is in the closed state, the main control module 50 transmits a switching control signal MCU _ CTL _ BRK to the switching control module 90, and after receiving the control signal, the switching control module 90 is closed, so that the second brake resistance unit 32 is grounded, and the second brake resistance unit 32 and the normally open Relay unit 62 are both grounded, The power bus 20 forms a passage, releases counter electromotive force, and consumes the energy of the counter electromotive force, so that the robot can decelerate in a short time, the braking distance is shortened, and the robot is prevented from being dangerous.

In one embodiment, referring to FIG. 6, the switch control module 90 includes: the braking circuit comprises a fourth resistor R4, a third capacitor C3, a second switching tube Q2, a braking chip 921, a third switching tube Q3, a braking power supply 92, a twenty-second resistor R22, a twenty-third resistor R23, a twenty-fourth resistor R24, a twenty-fifth resistor R25, a twenty-sixth resistor R26, a twenty-seventh resistor R27, an eleventh capacitor C11, a fifth transistor D5 and a sixth transistor D6.

The first end of the fourth resistor R4 and the first end of the third capacitor C3 are connected to the first end of the twenty-fourth resistor R24, the second end of the twenty-fourth resistor R24 is used for receiving a switch control signal MCU _ CTL _ BRK provided by the main control module 50, the second end of the fourth resistor R4 and the second end of the third capacitor C3 are grounded, the control end of the second switch Q2 is connected to the first end of the twenty-fourth resistor R24, the first end of the second switch Q2 is grounded, and the second end of the second switch Q2 is connected to the pin K of the braking chip 921.

The fourth resistor R4 and the third capacitor C3 form a filter circuit, so that only signals in a certain frequency band are allowed to pass through, and signals, interference and noise lower than or higher than the frequency band are suppressed, thereby achieving the effect of filtering signal interference.

In this embodiment, the brake power supply 92 is connected to the power supply pin VCC of the brake chip 921 to supply power to the brake chip 921, the twenty-third resistor R23 is connected in parallel between the pin a and the pin K of the brake chip 921, the pin a of the brake chip 921 is connected to the brake chip power supply 91 through the twenty-twelfth resistor R22, the output pin VO of the brake chip 921 is connected to the control end of the third switch Q3 through the twenty-sixth resistor R26, the first end of the third switch Q3 is connected to the second end ZD of the second brake resistor unit 32, and the second end of the third switch Q3 is grounded.

A first end of the twenty-fifth resistor R25 and a first end of the twenty-sixth resistor R26 are commonly connected to the output pin VO of the brake chip 921, a first end of the eleventh capacitor C11 and a first end of the twenty-seventh resistor R27, a first end of the sixth transistor D6, a control end of the third switching tube Q3, and a second end of the fifth transistor D5 are commonly connected to a second end of the twenty-sixth resistor R26, a second end of the eleventh capacitor C11 and a second end of the twenty-seventh resistor R27, and a second end of the sixth transistor D6 are grounded, and a first end of the fifth transistor D5 and a first end of the twenty-fifth resistor R25 are connected.

In this embodiment, the braking chip 921 may be an optical coupling isolation chip.

The second switch tube Q2, the brake chip 921 and its peripheral resistors form a brake switch circuit, and the brake switch circuit is configured to control a connection state between the second brake resistor unit 32 and the ground terminal according to the switch control signal MCU _ CTL _ BRK generated by the main control module 50, so as to control on/off of the bleed circuit of the second brake resistor unit 32.

When the brake switch circuit receives the switch control signal MCU _ CTL _ BRK, the third switch tube Q3 is controlled to be closed, so that the second brake resistance unit 32 is grounded, the second brake resistance unit 32, the normally open relay unit 62 and the power bus 20 form a passage to release counter electromotive force, the energy of the counter electromotive force is consumed, the robot can decelerate in a short time, the braking distance is shortened, and the robot is prevented from being dangerous.

In one embodiment, the first braking resistance unit 31 and the second braking resistance unit 32 respectively serve as two bleeding channels, the first braking resistance unit 31 is used for a bleeding channel when the motor driver 10 is in a standby state, and the second braking resistance unit 32 can serve as a bleeding channel after the motor driver 10 is powered on.

In one embodiment, the current detection module 40 samples the first brake resistor unit 31 and the second brake resistor unit 32 to generate a first current detection signal and a second current detection signal, respectively.

Specifically, the main control module 50 is configured to generate a bleeding control signal when current directions of the first current detection signal and the second current detection signal change, so as to switch the bleeding channel.

In this embodiment, referring to fig. 7, the current detection module 40 includes a first current detection unit and a second current detection unit, and both the first current detection unit and the second current detection unit may be current sampling resistors connected in series in the bleeding circuit.

The first current detection unit is configured to detect a current in the first brake resistance unit 31, generate a first current detection signal, and send the first current detection signal to the main control module 50, and the second current detection unit is configured to detect a current in the second brake resistance unit 32, generate a second current detection signal, and send the second current detection signal to the main control module 50.

The main control module 50 generates a bleeding control signal when the current directions of the first current detection signal and the second current detection signal change. For example, when the robot is in a shutdown state, the robot is pushed by a person or slips down a slope, a motor of the robot rotates, a capacitor in a power supply unit stores energy, at this time, the normally closed relay unit 61 is closed, the normally open relay unit 62 is opened, the first current detection unit in the current detection module 40 detects current on the first brake resistor unit 31 through the normally closed relay unit 61, generates a first current detection signal, and sends the first current detection signal to the main control module 50, the main control module 50 generates a release control signal according to the first current detection signal, the first brake resistor unit 31, the normally closed relay unit 61 and the power supply bus 20 form a passage, the counter electromotive force is released, the counter electromotive force energy is consumed, the robot can be rapidly stopped in a short time, the braking distance is shortened, and the robot is prevented from being dangerous.

In one embodiment, referring to fig. 5, 6 and 7, the second current detecting unit is configured to detect a current on the second brake resistor unit 32 and generate a second current detecting signal, and send the second current detecting signal to the main control module 50, for example, when the robot is in an on state, the motor driver 10 operates normally, and the motor of the robot rotates normally, at this time, the normally closed relay unit 61 is opened, the normally open relay unit 62 is closed, the second current detecting unit in the current detecting module 40 detects the current on the second brake resistor unit 32 through the normally open relay unit 62 and generates a second current detecting signal, and sends the second current detecting signal to the main control module 50, when the robot needs to decelerate or stop in an emergency, the main control module 50 generates a leakage control signal according to the second current detecting signal, so that the second brake resistor unit 32 forms a path with the normally open relay unit 62 and the power bus 20, the counter electromotive force is released, and the energy of the counter electromotive force is consumed, so that the robot can be rapidly stopped in a short time, the braking distance is shortened, and the robot is prevented from being dangerous.

In one embodiment, referring to fig. 5, 6 and 7, the second current detecting unit is configured to detect a current on the second brake resistor unit 32, generate a second current detecting signal, and send the second current detecting signal to the main control module 50, for example, when the robot is in an on state and a motor of the robot normally rotates, at this time, the normally closed relay unit 61 is opened, the normally open relay unit 62 is closed, the second current detecting unit in the current detecting module 40 detects a current on the second brake resistor unit 32 through the normally open relay unit 62, and generates a second current detecting signal, and sends the second current detecting signal to the main control module 50, when the robot fails or needs an emergency stop, the main control module 50 generates a release control signal according to the second current detecting signal, the multi-way relay module 60 receives the release control signal, opens the normally open relay unit 62, and closes the normally closed relay unit 61, and the power switch module 70 is disconnected, the interface of the power bus 20 is disconnected with the motor driver 10, the motor is powered off, the robot stops providing energy, the first brake resistor unit 31, the normally closed relay unit 61 and the power bus 20 form a passage to release counter electromotive force, and the energy of the counter electromotive force is consumed, so that the robot can stop rapidly in a short time, the brake distance is shortened, and the robot is prevented from being dangerous.

In one embodiment, referring to fig. 5, 6 and 7, the current detection module 40 detects a current flowing through the brake resistor module 30 and generates a current detection signal to be transmitted to the main control module 50, wherein the current detection signal is transmitted to the main control module 50 through the IIC communication protocol. Specifically, the IIC communication protocol includes two buses, one is a data line SDA and the other is a clock line SCL, when SCL jumps from 0 to 1, the sender controls the SDA, and when SDA is valid data, SDA cannot be changed, and when SCL remains 0, data on SDA can be changed. That is, whether the master sends the slave or the slave sends the master, as long as the master wants to send or read data, there is a process of SCL rising, the SDA data is valid, the data comes from the sender, and the current detection signal is sent to the master control module 50 through the IIC communication protocol, which has the advantages of supporting multiple master servers and multiple slave servers, simple hardware, low resource consumption, etc.

In one embodiment, referring to fig. 7, the current detection module 40 may be composed of a current detection chip 51 and its peripheral circuits.

In one embodiment, the current sense chip 51 may be of a type PAC1934T-I/JO,

referring to fig. 7, the power pin VDD of the current detecting chip 51 is connected to the 3.3V current detecting chip 51, the first terminal of the twelfth capacitor C12 and the first terminal of the thirteenth capacitor C13 are commonly connected to the current detecting chip power VCC3V3, the second terminal of the twelfth capacitor C12 and the second terminal of the thirteenth capacitor C13 are grounded, the first terminal of the thirty-th resistor R30 is connected to the pin SM _ CLK of the current detecting chip 51, the second terminal of the thirty-th resistor R30 and the second terminal of the twenty-ninth resistor R29 are connected to the clock port IIC _ SCL of the main control module 50, the first terminal of the twenty-ninth resistor R29 and the first terminal of the twenty-eighth resistor R28 are connected to the current detecting chip power VCC3V3, the second terminal of the twenty-eighth resistor R28 and the first terminal of the thirty-eleventh resistor R31 are connected to the data port SDA of the main control module 50, the current sampling data is obtained through the clock line port IIC _ SCL and the data line port IIC _ SDA of the main control module 50.

The second terminal of the thirty-first resistor R31 is connected to the SM _ DATA pin of the current detecting chip 51, the ADDRSEL pin of the current detecting chip 51 is grounded, the second terminals of the thirty-fourth resistor R34 and the first terminal of the thirty-fifth resistor R35 are connected to the SLOW/ALERT pin of the current detecting chip 51, the second terminal of the thirty-fifth resistor R35 is grounded, the first terminals of the thirty-fourth resistor R34 and the thirty-third resistor R33 are connected to the current detecting chip power supply VCC3V3, the second terminal of the thirty-third resistor R33 and the first terminal of the thirty-sixth resistor R36, the first end of the fourteenth capacitor C14 is connected to the PWRDN pin of the current detection chip 51, the second end of the thirty-sixth resistor R36 and the second end of the fourteenth capacitor C14 are grounded, the GND pin of the current detection chip 51 is grounded, the first end of the nineteenth capacitor C19 is connected to the VDD _ I/O pin and the VDD pin of the current detection chip 51, and the second end of the nineteenth capacitor C19 is grounded.

The pins SENSE1+ and SENSE 1-of the current detection chip 51 are connected to the first current detection unit, and for example, as shown in fig. 5, the pins SENSE1+ and SENSE 1-of the current detection chip 51 are connected to two ends of the seventeenth resistor R17, respectively.

The pins SENSE2+ and SENSE 2-of the current detection chip 51 are connected to the second current detection unit, and for example, as shown in fig. 5, the pins SENSE2+ and SENSE 2-of the current detection chip 51 are connected to two ends of the eighteenth resistor R18, respectively.

The fifteenth capacitor C15 is connected in parallel to the SENSE1+ and the SENSE 1-pin of the current detection chip 51, the sixteenth capacitor C16 is connected in parallel to the SENSE2+ and the SENSE 2-pin of the current detection chip 51, the first end of the seventeenth capacitor C17 is connected in parallel to the SENSE2+ pin of the current detection chip 51, the second end of the seventeenth capacitor C17 is grounded, the first end of the eighteenth capacitor C18 is connected in parallel to the SENSE1+ pin of the current detection chip 51, and the second end of the eighteenth capacitor C18 is grounded.

The embodiment of the application also provides an energy release device, which comprises the energy release circuit.

An embodiment of the present application further provides a robot, the robot includes: a robot body; the motor driver 10 is used for driving the robot body to move; and an energy bleeding circuit as claimed in any one of the above claims for bleeding back emf generated by the motor driver 10.

The embodiment of the application provides an energy bleeder circuit, energy release and robot, wherein, the energy bleeder circuit includes: power bus 20, brake resistance module 30, current detection module 40, main control module 50 and multi-way relay module 60, detect the electric current on the brake resistance module 30 through current detection module 40, and generate the current detection signal, main control module 50, receive the current detection signal, and generate the control signal of bleeding according to the current detection signal, multi-way relay module 60, switch switching control is carried out according to the control signal of bleeding, with the passageway of bleeding of switching brake resistance module 30, finally, the counter electromotive force that produces motor driver 10 by brake resistance module 30 is bled, the longer problem of robot braking distance that the counter electromotive force of having solved current battery absorption robot exists.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules, so as to perform all or part of the functions described above. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, a module or a unit may be divided into only one logical function, and may be implemented in other ways, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, in accordance with legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunications signals.

The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims

1. An energy bleed circuit, comprising:

the power bus is connected with the motor driver;

2. The energy bleed circuit of claim 1, wherein the multiplex relay module comprises:

a relay power port;

3. The energy bleeding circuit of claim 2, wherein the braking resistance module comprises:

4. The energy bleed circuit of claim 1, further comprising:

5. The energy bleed circuit of claim 1, further comprising:

6. The energy bleed circuit of claim 5, wherein the optocoupler isolation module comprises: the circuit comprises a first switch tube, a third resistor, a second capacitor, a nineteenth resistor, a twentieth resistor, an optical coupling isolation chip and an optical coupling isolation power port;

7. The energy bleed circuit of claim 3, further comprising:

8. The energy bleed circuit of claim 7, wherein the current sense signal comprises a first current sense signal and a second current sense signal;

9. An energy discharge device, comprising an energy discharge circuit according to any one of claims 1-8.

10. A robot, characterized in that the robot comprises: a robot body; the motor driver is used for driving the robot body to move; and an energy discharge circuit according to any one of claims 1 to 8 for discharging back emf generated by the motor driver.