US 12,337,487 B2
Robot control apparatus and method, and robot
Yusheng Hu, Guangdong (CN); Changkai Wang, Guangdong (CN); Feipeng Hu, Guangdong (CN); Qinwei Zhu, Guangdong (CN); Xiancai Yu, Guangdong (CN); and Lei Lei, Guangdong (CN)
Assigned to Gree Electric Appliances, Inc. of Zhuhai, Guangdong (CN)
Appl. No. 18/010,086
Filed by Gree Electric Appliances, Inc. of Zhuhai, Guangdong (CN)
PCT Filed May 17, 2021, PCT No. PCT/CN2021/094043
§ 371(c)(1), (2) Date Dec. 13, 2022,
PCT Pub. No. WO2022/057292, PCT Pub. Date Mar. 24, 2022.
Claims priority of application No. 202010974687.4 (CN), filed on Sep. 16, 2020.
Prior Publication US 2023/0347523 A1, Nov. 2, 2023
Int. Cl. B25J 9/00 (2006.01); B25J 9/16 (2006.01)
CPC B25J 9/1676 (2013.01) 13 Claims
OG exemplary drawing
 
1. A robot control device, comprising: a signal acquisition unit, a control unit, a logic processing unit, and a signal output unit; wherein:
the signal acquisition unit is configured to acquire a switch turn-on signal indicating that a body switch of a robot is turned on if the body switch of the robot is turned on in a case where the robot triggers an emergency stop and braking of a motor of the robot can be manually released;
the control unit is configured to output an enable release control signal in a case where the robot triggers the emergency stop and the braking of the motor of the robot can be released by enable control;
the logic processing unit is configured to output a manual release signal after performing logic processing on the switch turn-on signal if the switch turn-on signal is received, and output an enable release signal after performing logic processing on the enable release control signal if the enable release control signal is received; and the signal output unit is configured to control the braking of the motor of the robot to be released in a case where the manual release signal or the enable release signal is received;
wherein a number of an output terminal of the signal acquisition unit, a number of the logic processing unit, and a number of the signal output unit are consistent with a number of the motor in the robot that need to be braked or released from braking;
in a case where the number of the motor in the robot that need to be braked or released from the braking is two, the motor in the robot that need to be braked or released from the braking comprises a first motor and a second motor; the output terminal of the signal acquisition unit comprises: a first output terminal and a second output terminal; the logic processing unit comprises: a first logic processing unit and a second logic processing unit; the signal output unit comprises: a first signal output unit and a second signal output unit; wherein:
the first output terminal of the signal acquisition unit is connected to a first input terminal of the first logic processing unit, an output terminal of the first logic processing unit is connected to an input terminal of the first signal output unit, and an output terminal of the first signal output unit is connected to a control terminal of the first motor which is for braking or releasing the braking;
the second output terminal of the signal acquisition unit is connected to a first input terminal of the second logic processing unit, an output terminal of the second logic processing unit is connected to an input terminal of the second signal output unit, and an output terminal of the second signal output unit is connected to a control terminal of the second motor which is for braking or releasing the braking; and
a first enable control terminal of the control unit is connected to a second input terminal of the first logic processing unit, and a second enable control terminal of the control unit is connected to a second input terminal of the second logic processing unit.