Mechanical arm power-down protection circuit and sweeping robot

Abstract

The invention provides a mechanical arm power-down protection circuit and a sweeping robot, and relates to the technical field of motor control, the mechanical arm power-down protection circuit comprises a power supply module, a micro-control module, a relay and a mechanical arm control module, when the power supply module supplies power, a control end of the relay is electrified to control a common end to be conducted with a second connecting end, and the mechanical arm control module controls the micro-control module; the micro-control module controls the power supply module to be connected with the input end of the motor. When the power supply module is powered off, the control end of the relay is powered off, the common end is connected with the first connecting end, the input end of the motor is connected with the grounding end, and a coil of the motor forms loop current and generates resistance to slow down descending of the mechanical arm. By means of the automatic switching function of the relay, the connection state of the motor is rapidly switched when a power source is cut off, resistance is generated through the physical characteristics of the motor so as to slow down descending of the mechanical arm, the circuit structure is simple, cost is low, large installation space does not need to be occupied, and the circuit can be applied to mechanical arms of various sizes and models; and the method has a relatively wide application range.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a power-off protection circuit for a robotic arm and a sweeping robot. Background Art

[0002] During the operation of a sweeping robot equipped with a robotic arm, if an abnormal power outage occurs, the robotic arm, which is not equipped with protective measures, and the load it grasps may suddenly fall, posing a safety hazard.

[0003] Traditional industrial and collaborative robotic arms are typically equipped with electromagnetic brake systems, which use electromagnetic brakes or electromagnets to brake the motor in the event of a power outage to avoid safety hazards. However, such electromagnetic brake systems are expensive to manufacture and require a large installation space. They are not suitable for installation on robotic arms with large load capacities and long arm spans, and their application range is limited. Summary of the Invention

[0004] In response to the above-mentioned shortcomings of the existing technology, the present invention provides a robotic arm power-off protection circuit and a sweeping robot, which solves the technical problems in the existing technology of using an electromagnetic brake system to brake the robotic arm when the robotic arm is powered off, which has high manufacturing costs and occupies a large installation space.

[0005] On one hand, the present invention provides a power-off protection circuit for a robotic arm, comprising a power supply module, a microcontroller module, a relay, and a robotic arm control module, wherein the robotic arm control module comprises a motor and a robotic arm, and the motor is drivingly connected to the robotic arm;

[0006] The relay includes a control end, a common end, a first connection end, and a second connection end, the power supply module is connected to the control end, the common end is connected to the ground end, the first connection end is connected to the input end of the motor, and the second connection end is connected to the power supply module;

[0007] The power supply module and the micro-control module are respectively connected to the input end of the motor, and the micro-control module is used to control the connection state between the power supply module and the input end of the motor;

[0008] When the power supply module supplies power, the control end of the relay is energized to control the common end of the relay to be conductive with the second connection end of the relay, and the microcontroller controls the power supply module to be connected with the input end of the motor, so that the motor drives the robotic arm to work;

[0009] When the power supply module is powered off, the control end of the relay is powered off, the common end of the relay is connected to the first connection end of the relay, so that the input end of the motor is connected to the ground end, and the coil of the motor forms a loop current and generates resistance to slow down the descent of the robotic arm.

[0010] Optionally, an energized coil is provided in the relay;

[0011] The control end includes a first pin and an eighth pin, the first pin is connected to the positive electrode of the energized coil in the relay, and the eighth pin is connected to the negative electrode of the energized coil in the relay;

[0012] The first connection end includes a second pin and a seventh pin, the second pin and the seventh pin are respectively connected to the input end of the motor, the seventh pin is further connected to the cathode of a first bidirectional trigger diode, and the anode of the first bidirectional trigger diode is connected to the ground end;

[0013] The common terminal includes a third pin and a sixth pin, and the third pin and the sixth pin are respectively connected to the ground terminal;

[0014] The second connection end includes a fourth pin and a fifth pin, the power supply module is connected to the fourth pin through a first resistor, the fourth pin is connected to the cathode of the second bidirectional trigger diode through a first signal register, the anode of the second bidirectional trigger diode is connected to the ground end, and the fifth pin is connected to the cathode of the second bidirectional trigger diode;

[0015] When the power supply module supplies power, the energized coil is energized to connect the third pin to the fourth pin, and the sixth pin to the fifth pin, and the microcontroller module controls the first signal register to output a high-level signal;

[0016] When the power supply module is powered off, the energized coil is powered off, the third pin is conductively connected to the second pin, and the sixth pin is conductively connected to the seventh pin.

[0017] Optionally, the first pin and the eighth pin are respectively connected to the power supply module through a connecting circuit, wherein the connecting circuit includes a second resistor, a third resistor, a fourth resistor, a fifth resistor, a first diode, a second diode, a third diode, a first capacitor and a first NMOS transistor;

[0018] The power supply module is connected to the cathode of the first diode, the anode of the first diode is connected to the first end of the second resistor via the first capacitor, and the anode of the first diode is further connected to the first end of the second resistor via the third resistor;

[0019] The power supply module is further connected to the anode of the second diode, and the cathode of the second diode is connected to the first end of the second resistor through the fourth resistor;

[0020] The power supply module is further connected to the cathode of the third diode, and the anode of the third diode is connected to the drain of the first NMOS transistor;

[0021] The power supply module is also connected to the first pin, and the eighth pin is connected to the drain of the first NMOS tube;

[0022] The first end of the second resistor is connected to the ground end through the fifth resistor, the second end of the second resistor is connected to the gate of the first NMOS transistor, and the source of the first NMOS transistor is connected to the ground end.

[0023] Optionally, the robot arm power-off protection circuit further includes an enable control circuit;

[0024] The enable control terminal of the microcontroller module is connected to the eighth pin through the enable control circuit, and the first pin is connected to the power supply module;

[0025] The microcontrol module controls the energized state of the energized coil through the enable control circuit to control the connection state of the common terminal in the relay.

[0026] Optionally, the power supply module is connected to the first pin via a sixth resistor;

[0027] The enable control circuit also includes a seventh resistor, an eighth resistor and a second NMOS transistor. The enable control terminal of the microcontrol module is connected to the gate of the second NMOS transistor through the seventh resistor. The gate of the second NMOS transistor is also connected to the ground terminal through the eighth resistor. The source of the second NMOS transistor is connected to the ground terminal, and the drain of the second NMOS transistor is connected to the eighth pin.

[0028] Optionally, the robot arm power-off protection circuit further includes a PMOS tube;

[0029] The power supply module is connected to the source of the PMOS tube, the microcontroller module is connected to the gate of the PMOS tube, and the drain of the PMOS tube is connected to the robotic arm control module;

[0030] The microcontrol module controls the on / off of the PMOS tube based on the power supply status of the power supply module to control the connection status between the power supply module and the robotic arm control module.

[0031] Optionally, the circuit further includes a third NMOS transistor, a fourth NMOS transistor, a fifth NMOS transistor, a PNP-type transistor and a second signal register;

[0032] The microcontroller module is connected to the gate of the third NMOS transistor, the source of the third NMOS transistor is connected to the ground terminal, and the drain of the third NMOS transistor is connected to the base of the PNP transistor;

[0033] The emitter of the PNP transistor is connected to the power supply, and the collector of the PNP transistor is connected to the gate of the fifth NMOS transistor;

[0034] The second signal register is connected to the gate of the fourth NMOS transistor, the source of the fourth NMOS transistor is connected to the ground terminal, and the drain of the fourth NMOS transistor is connected to the gate of the fifth NMOS transistor;

[0035] The source of the fifth NMOS transistor is connected to the ground terminal, and the drain of the fifth NMOS transistor is connected to the gate of the PMOS transistor;

[0036] When the power supply module supplies power, the third NMOS tube and the PNP transistor are turned on, the microcontroller module controls the second signal register to send a high-level signal, so that the fourth NMOS tube, the fifth NMOS tube and the PMOS tube are turned on, and the power supply module is connected to the input end of the motor.

[0037] Optionally, the robotic arm control module further includes a reducer;

[0038] The output end of the motor is drivingly connected to the robotic arm through the reducer;

[0039] When the power supply module is powered off, the reducer is used to amplify the resistance generated by the coil of the motor based on the loop current to slow down the descent of the robotic arm.

[0040] Optionally, the motor is provided with a communication unit, and the communication unit is provided with a first port, a second port, a third port and a fourth port;

[0041] The first port is connected to the power supply module, the second port is connected to the ground terminal, and the third port and the fourth port are respectively used to connect to RS485 signal lines to communicate with external devices.

[0042] Another aspect of the present invention provides a sweeping robot, comprising any one of the above-mentioned robotic arm power-off protection circuits.

[0043] The robot arm power-off protection circuit and the sweeping robot provided by the present invention realize the switching of the motor connection status under different power supply states through a relay. When the power supply module is supplying power normally, the power supply module cooperates with the micro-control module to power the motor in the robot arm control module, thereby driving the robot arm to work normally; and when the power supply module is accidentally powered off, the control end of the relay loses voltage, so that the common end of the relay is connected to the first connection end, resulting in the input end of the motor being directly connected to the ground end, and the input end of the motor is short-circuited to form a loop. At this time, the motor can be regarded as a generator, and the coil of the motor is subjected to a reverse Ampere force due to the back electromotive force to form a loop current. This Ampere force is equivalent to resistance, and the resistance continues to increase as the speed of the motor increases, thereby hindering the falling speed of the robot arm, so that the robot arm can only fall slowly, reducing the risk of rapid falling of the robot arm due to accidental power off, and improving safety. The robotic arm power-off protection circuit provided in this application utilizes the automatic switching function of the relay, which can quickly switch the connection status of the motor when the power is disconnected, and utilizes the physical properties of the motor itself to generate resistance to slow down the descent of the robotic arm. The circuit structure is simple and low-cost, and does not require a large installation space. It can be applied to robotic arms of various sizes and models and has a relatively wide range of applications.

[0044] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present invention. The purposes and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.

[0045] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0047] Figure 1 This is a schematic diagram of the overall structure of a power-off protection circuit for a robotic arm in one embodiment of the present application;

[0048] Figure 2 A schematic diagram of the overall structure of a robotic arm power-off protection circuit configured with an enabling control circuit in an embodiment provided in the present application;

[0049] Figure 3 A circuit diagram of a connection circuit and a relay of a robot arm power-off protection circuit in one embodiment provided in the present application;

[0050] Figure 4A circuit structure diagram of a robot arm power-off protection circuit configured with an enabling control circuit in one embodiment provided in the present application;

[0051] Figure 5 A circuit structure diagram between a power supply module, a microcontroller module, and a robotic arm control module in a robotic arm power-off protection circuit in one embodiment of the present application;

[0052] Figure 6 This is a circuit structure diagram of the communication unit of the motor in the power-off protection circuit of the robotic arm in an embodiment provided in the present application.

[0053] In the picture:

[0054] Q1, first NMOS transistor; Q2, second NMOS transistor; Q3, third NMOS transistor; Q4, fourth NMOS transistor; Q5, fifth NMOS transistor; Q6, PNP transistor; Q7, PMOS transistor;

[0055] D1, first bidirectional trigger diode; D2, second bidirectional trigger diode; D3, first diode; D4, second diode; D5, third diode;

[0056] C1, first capacitor; C2, second capacitor; C3, third capacitor; C4, fourth capacitor; C5, fifth capacitor; C6, sixth capacitor;

[0057] R1, first resistor; R2, second resistor; R3, third resistor; R4, fourth resistor; R5, fifth resistor; R6, sixth resistor; R7, seventh resistor; R8, eighth resistor; R9, ninth resistor; R10, tenth resistor; R11, eleventh resistor; R12, twelfth resistor; R13, thirteenth resistor; R14, fourteenth resistor; R15, fifteenth resistor; R16, sixteenth resistor; R17, seventeenth resistor; R18, eighteenth resistor; R19, nineteenth resistor;

[0058] MCU, microcontroller module; MECH_EN, enable control terminal; GND, ground terminal;

[0059] VBAT, power supply voltage; VBAT_IN, power supply port; V_MECH_POWER, motor input terminal; VCC_3.3V, power supply;

[0060] KA1, relay; F1, fuse;

[0061] RE_LOCK1, first signal register; RE_LOCK2, second signal register;

[0062] H1, communication unit; A, signal line A; B, signal line B. DETAILED DESCRIPTION

[0063] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0064] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0065] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0066] On the one hand, the present invention provides a power-off protection circuit for a robotic arm. Figure 1 As shown, it includes a power supply module, a microcontroller module, a relay and a robotic arm control module, wherein the robotic arm control module includes a motor and a robotic arm, and the motor is driven and connected to the robotic arm; the relay includes a control end, a common end, a first connection end and a second connection end, the power supply module is connected to the control end, the common end is connected to the ground end, the first connection end is connected to the input end of the motor, and the second connection end is connected to the power supply module; the power supply module and the microcontroller module are respectively connected to the input end of the motor, and the microcontroller module is used to control the connection state between the power supply module and the input end of the motor; when the power supply module supplies power, the control end of the relay is energized to control the common end of the relay to be connected to the second connection end of the relay, and the microcontroller controls the power supply module to be connected to the input end of the motor, so that the motor drives the robotic arm to work; when the power supply module is powered off, the control end of the relay is powered off, the common end of the relay is connected to the first connection end of the relay, so that the input end of the motor is connected to the ground end, and the coil of the motor forms a loop current and generates resistance to slow down the descent of the robotic arm.

[0067] The robot arm power-off protection circuit provided by the present invention realizes the switching of the motor connection state under different power supply states through a relay. When the power supply module is supplying power normally, the power supply module cooperates with the microcontroller module to supply power to the motor in the robot arm control module, thereby driving the robot arm to work normally. When the power supply module is accidentally powered off, the control end of the relay loses voltage, so that the common end of the relay is connected to the first connection end, resulting in the input end of the motor being directly connected to the ground end. The input end of the motor is short-circuited to form a loop. At this time, the motor can be regarded as a generator. The coil of the motor is subjected to a reverse Ampere force due to the back electromotive force to form a loop current. This Ampere force is equivalent to resistance, and the resistance increases as the speed of the motor increases, thereby hindering the falling speed of the robot arm, so that the robot arm can only fall slowly, reducing the risk of rapid falling of the robot arm due to accidental power failure, and improving safety. The robot arm power-off protection circuit provided by the present application utilizes the automatic switching function of the relay to quickly switch the connection state of the motor when the power is disconnected, and utilizes the physical properties of the motor itself to generate resistance to slow down the descent of the robot arm. The circuit structure is simple and low-cost, and does not require a large installation space. It can be applied to robot arms of various sizes and models, and has a relatively wide range of applications.

[0068] Among them, the motor in the robotic arm control module uses a brushless motor, and an electronic commutator replaces the traditional mechanical commutator. Compared with a brushed motor, a brushless motor eliminates the friction loss between the carbon brushes and the commutator, has higher efficiency, lower energy consumption, and longer service life. In addition, the brushless motor does not require regular replacement of carbon brushes, reducing maintenance workload. At the same time, the commutation of the brushless motor is completed by an electronic controller, which can achieve faster response time and higher precision.

[0069] Specifically, in the above embodiment, Figure 3As shown, a power-carrying coil is provided in the relay KA1; the control end includes a first pin and an eighth pin, the first pin is connected to the positive pole of the power-carrying coil in the relay KA1, and the eighth pin is connected to the negative pole of the power-carrying coil in the relay KA1; the first connection end includes a second pin and a seventh pin, the second pin and the seventh pin are respectively connected to the input end V_MECH_POWER of the motor, the seventh pin is also connected to the negative pole of the first bidirectional trigger diode D1, and the positive pole of the first bidirectional trigger diode D1 is connected to the ground end; the common end includes a third pin and a sixth pin, the third pin and the sixth pin are respectively connected to the ground end; the second connection end includes a fourth pin and a seventh pin, Five pins, the power supply module is connected to the fourth pin through the first resistor R1, the fourth pin is connected to the cathode of the second bidirectional trigger diode D2 through the first signal register RE_LOCK1, the anode of the second bidirectional trigger diode D2 is connected to the ground terminal, and the fifth pin is connected to the cathode of the second bidirectional trigger diode D2; when the power supply module supplies power, the power coil is energized to make the third pin and the fourth pin conductive, the sixth pin and the fifth pin conductive, and the microcontroller module MCU controls the first signal register RE_LOCK1 to output a high-level signal; when the power supply module is powered off, the power coil is powered off, the third pin and the second pin are conductive, and the sixth pin and the seventh pin are conductive.

[0070] In this embodiment, a specific structural drawing of the relay KA1 is provided. In the relay KA1, an energized coil is connected between the first pin and the eighth pin of the control end. The energized coil is usually controlled by applying voltage, that is, when an appropriate voltage is applied to both ends of the energized coil, the current in the coil will generate a magnetic field, and the magnetic field will further attract or repel the contacts to move the contacts; specifically in this application, the control end is connected to the power supply module. When the power supply module is normally powered, the energized coil receives voltage to generate a magnetic field, the third pin of the common end of the relay KA1 is connected to the fourth pin of the second connection end, and the sixth pin of the common end is connected to The fifth pin of the second connection end is turned on, and the microcontroller module MCU controls the first signal register RE_LOCK1 to output a high-level signal. The power supply module directly supplies power to the motor, so that the motor drives the robotic arm to work normally. When the power supply module is accidentally powered off, the energized coil loses voltage. At this time, the third pin of the common end of the relay KA1 is turned on to the second pin of the first connection end, and the sixth pin of the common end is turned on to the seventh pin of the first connection end. At this time, the input end V_MECH_POWER of the motor is directly connected to the ground end, so that the coil of the motor forms a loop current and generates resistance to slow down the descent of the robotic arm.

[0071] The first bidirectional trigger diode D1 and the second bidirectional trigger diode D2 are used to limit voltage spikes and protect the circuit from the influence of reverse voltage. They play a clamping role during transient power fluctuations to prevent excessive voltage from damaging other components. In addition, the relay KA1 realizes circuit switching by controlling the conductive state of the energized coil and changing the connection state of the common terminal pin. The overall structure is simple and effective.

[0072] Furthermore, the first pin and the eighth pin are respectively connected to the power supply module through a connecting circuit, wherein the connecting circuit includes a second resistor R2, a third resistor R3, a fourth resistor R4, a fifth resistor R5, a first diode D3, a second diode D4, a third diode D5, a first capacitor C1 and a first NMOS tube Q1; the power supply module is connected to the cathode of the first diode D3, the anode of the first diode D3 is connected to the first end of the second resistor R2 through the first capacitor C1, and the anode of the first diode D3 is also connected to the first end of the second resistor R2 through the third resistor R3; the power supply module The eighth pin is connected to the drain of the first NMOS transistor Q1. The first end of the second resistor R2 is connected to the ground terminal through the fifth resistor R5. The second end of the second resistor R2 is connected to the gate of the first NMOS transistor Q1. The source of the first NMOS transistor Q1 is connected to the ground terminal.

[0073] In this embodiment, the overall structure of the connection circuit is specifically given, wherein the first NMOS tube Q1 acts as a switch in the connection circuit, and affects the connection state of the common end in the relay KA1 by controlling the current of the energized coil in the relay KA1, that is, when the power supply module is supplying power normally, the gate of the first NMOS tube Q1 receives a high level and is turned on, allowing current to flow through the source and drain, thereby powering the energized coil; the first capacitor C1 is used to filter out high-frequency noise in the power supply, provide a stable power supply voltage, and absorb instantaneous pulse current in the circuit to improve power supply quality; the first diode D3 is used as a rectifier diode to realize voltage conversion, while the second diode D4 and the third diode D5 are both voltage-stabilizing diodes, and the other resistors in the circuit all play a current limiting role; the connection circuit is set in this application to realize the functions of power management and protection, and improve the safety and stability of the overall circuit.

[0074] Specifically, in the above embodiment, Figure 2 and Figure 4As shown, the robot arm power-off protection circuit also includes an enable control circuit; the enable control terminal MECH_EN of the microcontroller module MCU is connected to the eighth pin through the enable control circuit, and the first pin is connected to the power supply module; the microcontroller module MCU controls the power-on state of the energized coil through the enable control circuit to control the connection state of the common terminal in the relay KA1.

[0075] In this embodiment, the relay KA1 switches the common terminal connection state based on the power supply state of the power supply module, that is, in the event of an accidental power outage, the connection end of the motor is short-circuited, and the falling speed of the robotic arm is slowed down by generating resistance. In another embodiment, active switching control of the relay KA1 is achieved by introducing an enable control circuit. Specifically, the enable control end MECH_EN of the microcontroller module MCU is directly connected to the eighth pin through enable control. Through the enable control circuit, the microcontroller module MCU can decide when to start or stop the operation of the relay KA1 according to the program logic. For example, under certain conditions, the robotic arm needs to be urgently shut down. The energized coil is de-energized by the microcontroller module MCU, and the robotic arm can also be slowly lowered without waiting for an accidental power outage of the power supply module, thereby achieving active control. Moreover, the use of the microcontroller module MCU for control can accurately control the on-off time of the relay KA1, achieve more precise operation control, and adjust the working state of the relay KA1 according to actual conditions to adapt to the needs of different application scenarios. On the basis of ensuring the safety of the robotic arm falling, the flexibility and controllability of the circuit are enhanced.

[0076] Furthermore, the power supply module is connected to the first pin through a sixth resistor; the enable control circuit also includes a seventh resistor R7, an eighth resistor R8 and a second NMOS tube Q2, the enable control end of the microcontroller module MCU is connected to the gate of the second NMOS tube Q2 through the seventh resistor R7, the gate of the second NMOS tube Q2 is also connected to the ground end through the eighth resistor R8, the source of the second NMOS tube Q2 is connected to the ground end, and the drain of the second NMOS tube Q2 is connected to the eighth pin.

[0077] In this embodiment, the enable control circuit specifically includes a seventh resistor R7, an eighth resistor R8, and a second NMOS transistor Q2. The seventh resistor R7 is located between the enable control terminal MECH_EN of the microcontroller module MCU and the gate of the second NMOS transistor Q2. When the enable control terminal MECH_EN is output at a high level, current flows through the seventh resistor R7 and reaches the gate of the second NMOS transistor Q2, turning on the second NMOS transistor Q2. The eighth resistor R8 is located between the gate of the second NMOS transistor Q2 and the ground terminal, and functions as a current limiter, limiting the current flowing through the second NMOS transistor Q2 and protecting the second NMOS transistor Q2 from being impacted by excessive current. Specifically, the working principle of the enable control circuit is that when the enable control terminal MECH_EN of the microcontrol module MCU outputs a high level, current flows through the seventh resistor R7, so that the gate of the second NMOS tube Q2 is a high level, the second NMOS tube Q2 is turned on, the energized coil of the relay KA1 is energized, the relay KA1 contacts are in normal working state, and the motor drives the robotic arm to work normally; when the enable control terminal MECH_EN of the microcontrol module MCU outputs a low level, the gate of the second NMOS tube Q2 is a low level, the second NMOS tube Q2 is cut off, at this time, the energized coil of the relay KA1 cannot be powered, and the input terminal V_MECH_POWER of the motor is short-circuited, thereby generating resistance to slow down the descent of the robotic arm. It can be seen that this application controls the conduction and cutoff of the second NMOS tube Q2 by outputting high and low levels of the enable control terminal MECH_EN of the microcontrol module MCU, thereby indirectly controlling the working state of the relay KA1.

[0078] Specifically, in the above embodiment, Figure 5 As shown, the robotic arm power-off protection circuit also includes a PMOS tube Q7; the power supply module is connected to the source of the PMOS tube Q7, the microcontroller module MCU is connected to the gate of the PMOS tube Q7, and the drain of the PMOS tube Q7 is connected to the robotic arm control module; the microcontroller module MCU controls the on and off of the PMOS tube Q7 based on the power supply status of the power supply module to control the connection status between the power supply module and the robotic arm control module.

[0079] In this embodiment, the microcontroller module MCU is connected between the power supply module and the robotic arm control module to control the connection state between the power supply module and the robotic arm control module. This can be achieved by setting a PMOS transistor Q7. Specifically, the microcontroller module MCU can directly control the on and off of the PMOS transistor Q7, thereby accurately controlling the power supply of the robotic arm control module, and then can turn on or off the operation of the robotic arm as needed, thereby improving the flexibility and controllability of the operation. When the microcontroller module MCU outputs a high level, the PMOS transistor Q7 is controlled to be turned on. When the power supply module is powered, the power supply module can directly supply power to the motor; when the microcontroller module MCU outputs a low level, the PMOS transistor Q7 is cut off. Even if the power supply module is supplying power normally, the microcontroller module MCU can also realize the power-off function of the motor. The present application uses the PMOS transistor Q7, which can quickly respond to the instructions of the microcontroller module MCU and realize fast power switching. The PMOS transistor Q7 can provide a certain degree of isolation protection to prevent abnormal conditions in the power supply circuit from affecting the microcontroller module MCU or other components. The use of the PMOS transistor Q7 can enhance the control capability of the circuit, improve efficiency and safety, and also simplify the circuit design, making it easy to integrate into complex systems.

[0080] Furthermore, the robot arm power-off protection circuit also includes a third NMOS transistor Q3, a fourth NMOS transistor Q4, a fifth NMOS transistor Q5, a PNP transistor Q6 and a second signal register RE_LOCK2; the microcontroller module MCU is connected to the gate of the third NMOS transistor Q3, the source of the third NMOS transistor Q3 is connected to the ground terminal, the drain of the third NMOS transistor Q3 is connected to the base of the PNP transistor Q6; the emitter of the PNP transistor Q6 is connected to the power supply, and the collector of the PNP transistor Q6 is connected to the gate of the fifth NMOS transistor Q5; the second signal register RE_LOCK2 is connected to the fourth NMOS transistor Q4 The gate of the fourth NMOS transistor Q4 is connected to the ground terminal, the drain of the fourth NMOS transistor Q4 is connected to the gate of the fifth NMOS transistor Q5; the source of the fifth NMOS transistor Q5 is connected to the ground terminal, and the drain of the fifth NMOS transistor Q5 is connected to the gate of the PMOS transistor Q7; when the power supply module supplies power, the third NMOS transistor Q3 and the PNP-type triode Q6 are turned on, the microcontroller module MCU controls the second signal register RE_LOCK2 to send a high-level signal, so that the fourth NMOS transistor Q4, the fifth NMOS transistor Q5 and the PMOS transistor Q7 are turned on, and the power supply module is connected to the input terminal V_MECH_POWER of the motor.

[0081] In this embodiment, a plurality of transistors are further provided between the microcontroller module MCU and the gate of the PMOS tube Q7 to realize the control function of the microcontroller module MCU, such as Figure 5As shown, the microcontroller module MCU is connected to the gate of the third NMOS transistor Q3 through a ninth resistor R9, the source of the third NMOS transistor Q3 is connected to the ground terminal, and a tenth resistor R10 is connected in parallel between the source of the third NMOS transistor Q3 and the gate of the third NMOS transistor Q3, and the drain of the third NMOS transistor Q3 is connected to the base of the PNP transistor Q6 through an eleventh resistor R11. At the same time, a 3.3V power supply VCC_3.3V is connected to the emitter of the PNP transistor Q6 through a thirteenth resistor R13. The 3.3V power supply VCC _3.3V is also connected to the base of the PNP transistor Q6 through the twelfth resistor R12, the 3.3V power supply VCC_3.3V is connected to the ground terminal through the sixth capacitor C6, and the collector of the PNP transistor Q6 is connected to the gate of the fifth NMOS transistor Q5 through the fourteenth resistor R14, and the second signal register RE_LOCK2 is connected to the gate of the fourth NMOS transistor Q4 through the fifteenth resistor R15, the source of the fourth NMOS transistor Q4 is connected to the ground terminal, and at the same time, the gate of the fourth NMOS transistor Q4 and the source of the fourth NMOS transistor Q4 are connected. A sixteenth resistor R16 is connected in parallel, the drain of the fourth NMOS transistor Q4 is also connected to the gate of the fifth NMOS transistor Q5, the source of the fifth NMOS transistor Q5 is connected to the ground terminal, and a seventeenth resistor R17 is connected in parallel between the gate of the fifth NMOS transistor Q5 and the source of the fifth NMOS transistor Q5. At the same time, the drain of the fifth NMOS transistor Q5 is connected to the gate of the PMOS transistor Q7 through the nineteenth resistor R19, and an eighteenth resistor R18 is connected in parallel between the source of the PMOS transistor Q7 and the gate of the PMOS transistor Q7. The power supply module can also be split into a power supply voltage VBAT and the power supply port VBAT_IN, the power supply voltage VBAT is connected to the power supply port VBAT_IN through the fuse F1, the power supply port VBAT_IN is connected to the source of the PMOS tube Q7, and the power supply port VBAT_IN is also connected to the ground end through the fourth capacitor C4 and the fifth capacitor C5 respectively. The drain of the PMOS tube Q7 is connected to the input terminal V_MECH_POWER of the motor in the robotic arm control module, and the input terminal V_MECH_POWER of the motor is also connected to the ground end through the second capacitor C2 and the third capacitor C3 respectively.

[0082] Combine Figure 5The working principle of the microcontroller module MCU controlling the connection state between the power supply module and the robotic arm control module through the PMOS transistor is as follows: the microcontroller module MCU outputs a high level, so that the third MOS transistor Q3 and the PNP transistor Q6 are both in the on state. At this time, the second signal register RE_LOCK2 also outputs a high level, so that the fourth NMOS transistor Q4 is in the on state. Similarly, the fifth NMOS transistor Q5 is also in the on state, and the high level is output to the gate of the PMOS transistor Q7, so that the PMOS transistor Q7 is also in the on state, thereby enabling the power supply module to directly supply power to the input terminal V_MECH_POWER of the motor in the robotic arm control module. The twelfth resistor R12 and the thirteenth resistor R13 form a voltage divider circuit; each capacitor in the figure is used for filtering to remove high-frequency noise in the power supply and improve power quality; the fuse F1 is used to protect the circuit from overcurrent; and the tenth resistor R10 connected in parallel between the source and gate of the third NMOS transistor Q3, the sixteenth resistor R16 connected in parallel between the source and gate of the fourth NMOS transistor Q4, the seventeenth resistor R17 connected in parallel between the source and gate of the fourth NMOS transistor Q4, and the eighteenth resistor R18 connected in parallel between the source and gate of the PMOS transistor Q7 can reduce the static power consumption of the field-effect transistor and play a protective role.

[0083] Specifically, in the above embodiment, the robotic arm control module also includes a reducer; the output end of the motor is connected to the robotic arm drive through the reducer; when the power supply module is powered off, the reducer is used to amplify the resistance generated by the motor coil based on the loop current to slow down the descent of the robotic arm.

[0084] In this embodiment, a reducer is also connected between the motor and the robotic arm to increase the torque and reduce the speed. When the power supply module is powered off, the coil in the motor forms a loop current due to the back electromotive force, and the resistance increases as the motor speed increases. The reducer can amplify the resistance, thereby further hindering the falling speed of the robotic arm and improving the safety of the robotic arm's fall.

[0085] Specifically, in the above embodiment, Figure 6 As shown, a communication unit H1 is provided on the motor, and a first port, a second port, a third port and a fourth port are provided on the communication unit H1; the first port is connected to the power supply module, the second port is connected to the ground terminal, and the third port and the fourth port are respectively used to connect the RS485 signal line to communicate with the external device.

[0086] In this embodiment, the motor is also provided with a communication unit H1, which is specifically an RS485 communication unit, wherein the first port of the communication unit H1 is the input terminal V_MECH_POWER of the motor, which is used to connect to the power supply module and receive power from the power supply module, and the second port is used to connect to the ground terminal, and the third port and the fourth port are used to connect the signal line A and the signal line B in the RS485 communication protocol for two-way communication, allowing data exchange between the motor and external devices. The function of the communication unit H1 is to provide power from the power supply module to the motor and realize RS485 communication at the same time.

[0087] Another aspect of the present invention provides a sweeping robot, comprising the above-mentioned robot arm power-off protection circuit.

[0088] The sweeping robot provided by the present invention is equipped with a power-off protection circuit for the robotic arm. Even if the power is interrupted, the robotic arm will slowly descend instead of falling suddenly, reducing the risk of damage to the machine itself and the surrounding environment. The slow descent of the robotic arm can reduce the impact and reduce damage to the robotic arm itself and other components. From the user's experience, the user does not have to worry about the robotic arm losing control due to power failure, which improves the reliability and safety of the product. At the same time, the setting of the microcontroller module allows the user to control the state of the relay according to usage needs, thereby realizing the start and stop control of the robotic arm, further improving work efficiency.

[0089] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. A power-off protection circuit for a robotic arm, characterized in that: It includes a power supply module, a micro-control module, a relay and a robotic arm control module, wherein the robotic arm control module includes a motor and a robotic arm, and the motor is drivingly connected to the robotic arm; The relay includes a control end, a common end, a first connection end, and a second connection end, the power supply module is connected to the control end, the common end is connected to the ground end, the first connection end is connected to the input end of the motor, and the second connection end is connected to the power supply module; The power supply module and the micro-control module are respectively connected to the input end of the motor, and the micro-control module is used to control the connection state between the power supply module and the input end of the motor; When the power supply module supplies power, the control end of the relay is energized to control the common end of the relay to be conductive with the second connection end of the relay, and the microcontroller controls the power supply module to be connected with the input end of the motor, so that the motor drives the robotic arm to work; When the power supply module is powered off, the control end of the relay is powered off, the common end of the relay is connected to the first connection end of the relay, so that the input end of the motor is connected to the ground end, and the coil of the motor forms a loop current and generates resistance to slow down the descent of the robotic arm.

2. The power-off protection circuit for a robotic arm according to claim 1, characterized in that: An energized coil is provided in the relay; The control end includes a first pin and an eighth pin, the first pin is connected to the positive electrode of the energized coil in the relay, and the eighth pin is connected to the negative electrode of the energized coil in the relay; The first connection end includes a second pin and a seventh pin, the second pin and the seventh pin are respectively connected to the input end of the motor, the seventh pin is further connected to the cathode of a first bidirectional trigger diode, and the anode of the first bidirectional trigger diode is connected to the ground end; The common terminal includes a third pin and a sixth pin, and the third pin and the sixth pin are respectively connected to the ground terminal; The second connection end includes a fourth pin and a fifth pin, the power supply module is connected to the fourth pin through a first resistor, the fourth pin is connected to the cathode of the second bidirectional trigger diode through a first signal register, the anode of the second bidirectional trigger diode is connected to the ground end, and the fifth pin is connected to the cathode of the second bidirectional trigger diode; When the power supply module supplies power, the energized coil is energized to connect the third pin to the fourth pin, and the sixth pin to the fifth pin, and the microcontroller module controls the first signal register to output a high-level signal; When the power supply module is powered off, the energized coil is powered off, the third pin is conductively connected to the second pin, and the sixth pin is conductively connected to the seventh pin.

3. The power-off protection circuit for a robotic arm according to claim 2, characterized in that: The first pin and the eighth pin are respectively connected to the power supply module through a connecting circuit, wherein the connecting circuit includes a second resistor, a third resistor, a fourth resistor, a fifth resistor, a first diode, a second diode, a third diode, a first capacitor and a first NMOS transistor; The power supply module is connected to the cathode of the first diode, the anode of the first diode is connected to the first end of the second resistor via the first capacitor, and the anode of the first diode is further connected to the first end of the second resistor via the third resistor; The power supply module is further connected to the anode of the second diode, and the cathode of the second diode is connected to the first end of the second resistor through the fourth resistor; The power supply module is further connected to the cathode of the third diode, and the anode of the third diode is connected to the drain of the first NMOS transistor; The power supply module is also connected to the first pin, and the eighth pin is connected to the drain of the first NMOS tube; The first end of the second resistor is connected to the ground end through the fifth resistor, the second end of the second resistor is connected to the gate of the first NMOS transistor, and the source of the first NMOS transistor is connected to the ground end.

4. The power-off protection circuit for a robotic arm according to claim 2, characterized in that: The robotic arm power-off protection circuit further includes an enabling control circuit; The enable control terminal of the microcontroller module is connected to the eighth pin through the enable control circuit, and the first pin is connected to the power supply module; The microcontrol module controls the energized state of the energized coil through the enable control circuit to control the connection state of the common terminal in the relay.

5. The power-off protection circuit for a robotic arm according to claim 4, characterized in that: The power supply module is connected to the first pin via a sixth resistor; The enable control circuit also includes a seventh resistor, an eighth resistor and a second NMOS transistor. The enable control terminal of the microcontrol module is connected to the gate of the second NMOS transistor through the seventh resistor. The gate of the second NMOS transistor is also connected to the ground terminal through the eighth resistor. The source of the second NMOS transistor is connected to the ground terminal, and the drain of the second NMOS transistor is connected to the eighth pin.

6. The power-off protection circuit for a robotic arm according to claim 1, characterized in that: The mechanical arm power-off protection circuit further includes a PMOS tube; The power supply module is connected to the source of the PMOS tube, the microcontroller module is connected to the gate of the PMOS tube, and the drain of the PMOS tube is connected to the robotic arm control module; The microcontrol module controls the on / off of the PMOS tube based on the power supply status of the power supply module to control the connection status between the power supply module and the robotic arm control module.

7. The power-off protection circuit for a robotic arm according to claim 6, characterized in that: The mechanical arm power-off protection circuit further includes a third NMOS transistor, a fourth NMOS transistor, a fifth NMOS transistor, a PNP transistor and a second signal register; The microcontroller module is connected to the gate of the third NMOS transistor, the source of the third NMOS transistor is connected to the ground terminal, and the drain of the third NMOS transistor is connected to the base of the PNP transistor; The emitter of the PNP transistor is connected to the power supply, and the collector of the PNP transistor is connected to the gate of the fifth NMOS transistor; The second signal register is connected to the gate of the fourth NMOS transistor, the source of the fourth NMOS transistor is connected to the ground terminal, and the drain of the fourth NMOS transistor is connected to the gate of the fifth NMOS transistor; The source of the fifth NMOS transistor is connected to the ground terminal, and the drain of the fifth NMOS transistor is connected to the gate of the PMOS transistor; When the power supply module supplies power, the third NMOS tube and the PNP transistor are turned on, the microcontroller module controls the second signal register to send a high-level signal, so that the fourth NMOS tube, the fifth NMOS tube and the PMOS tube are turned on, and the power supply module is connected to the input end of the motor.

8. The power-off protection circuit for a robotic arm according to claim 1, wherein: The robotic arm control module further includes a reducer; The output end of the motor is drivingly connected to the robotic arm through the reducer; When the power supply module is powered off, the reducer is used to amplify the resistance generated by the coil of the motor based on the loop current to slow down the descent of the robotic arm.

9. The robot arm power-off protection circuit according to claim 1 or 8, characterized in that: The motor is provided with a communication unit, and the communication unit is provided with a first port, a second port, a third port and a fourth port; The first port is connected to the power supply module, the second port is connected to the ground terminal, and the third port and the fourth port are respectively used to connect to RS485 signal lines to communicate with external devices.

10. A sweeping robot, characterized in that: The invention comprises a robotic arm power-off protection circuit as described in any one of claims 1 to 9.

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