Wireless motion control robot printed board system and method

Abstract

The invention discloses a wireless motion control robot printed board system and method, and belongs to the technical field of robot control circuit and printed circuit board design. A single power supply input is combined with a cascade step-down circuit to provide required voltages for different modules respectively; a motor power supply is arranged on the top layer of a PCB in a wiring mode, PWM control signals are arranged on the bottom layer in a wiring mode, and physical isolation of power and signals is achieved. A switchable wireless communication module is integrated, and physical switching is carried out between a wireless control channel and a firmware downloading channel through a mode selection switch. The problems that in the prior art, a single power supply cannot stably supply power to a multi-voltage module, power and signals are arranged on the same layer, and consequently control signals are interfered are solved, stable power supply of the single power supply to the whole system is achieved, and the equipment size and wiring complexity are reduced; power supply ripples and signal interference are remarkably reduced, and the control precision is improved; wireless remote control and disassembly-free program updating are supported, and the deployment flexibility of the robot in a complex scene is enhanced.

Description

Technical Field

[0001] This invention belongs to the field of robot control circuit and printed circuit board design technology, specifically a wireless motion control robot printed circuit board system and method. Background Technology

[0002] In robot motion control systems, the core control board, responsible for driving servo motors or motors and processing control logic, is the key hardware determining the robot's motion accuracy, stability, and responsiveness. As robot applications become increasingly complex, such as in confined space inspections, mobile operations, or situations requiring flexible deployment, higher demands are placed on the control board's power supply, signal integrity, and ease of control and debugging.

[0003] Currently, in existing technical solutions in this field, the design of robot motion control PCB boards typically suffers from the following shortcomings that urgently need to be addressed: In terms of power supply architecture, existing solutions generally suffer from multiple power supply dependencies. Because the core processor integrated on the robot control board (typically requiring 3.3V or lower), wireless communication module (typically requiring 3.3V or 5V), and servo motors / motors (typically requiring higher voltages such as 5V, 7.4V, or 12V) have varying operating voltage requirements, traditional designs often use multiple independent voltage conversion modules or directly connect multiple external power adapters to supply power separately. This approach not only significantly increases the overall size, weight, and wiring complexity of the control system, but also causes the ground potential differences and voltage fluctuations between multiple power supplies to easily couple with each other, leading to instability in the circuit's reference. This affects the normal operation of the control chip and sensitive circuits, reducing system reliability.

[0004] In PCB layout and routing design, power traces for high-current servos / motors are often placed on the same routing layer or adjacent paths as signal traces transmitting low-level PWM control signals. When a servo / motor starts, stops, or experiences a sudden load change, its power circuit generates drastic instantaneous current changes and associated electromagnetic noise. This noise can easily couple to adjacent vulnerable control signal lines through parallel wires or common-ground impedance, causing control signal distortion and noise.

[0005] Therefore, designing an integrated robot motion control PCB board that can stably and efficiently power modules with multiple voltage requirements under a single external power input, and isolating power and signal paths to suppress interference and ensure control accuracy has become an urgent technical problem for those skilled in the art. Summary of the Invention

[0006] To address the above problems, this invention provides a wireless motion control robot printed circuit board system and method, which solves the problem of providing stable and clean power to main control chips, wireless modules, and high-power servo motors / motors that require different operating voltages under a single external power supply.

[0007] To achieve the above objectives, the technical solution adopted by the present invention is as follows: A wireless motion control robot printed circuit board system includes a power module, a WiFi module, a main control chip module, and a servo motor interface module; The input terminal of the power module is connected to an external 7.4V power interface J27 via a power switch SW11. The power module includes a first-stage buck converter chip, a second-stage buck converter chip, a third-stage buck converter chip, a first filter capacitor bank, a second filter capacitor bank, and a third filter capacitor bank. The input terminal of the first-stage buck converter chip is connected to the output terminal of the power switch SW11. The output terminal of the first-stage buck converter chip is connected to one end of inductor L2, the cathode of freewheeling diode D2, and the input terminal of the second-stage buck converter chip. The other end of inductor L2 is connected to potentiometer R17. The anode of freewheeling diode D2 is grounded. The third-stage buck converter chip is connected to a 7.4V power supply. The first filter capacitor bank, the second filter capacitor bank, and the third filter capacitor bank are all connected in parallel to the input and output terminals of the first-stage buck converter chip. The main control chip module includes a main control chip. The IO pins of the main control chip are connected to the signal pins of the servo interface module through signal filtering capacitors. The power supply pin VDD is connected to the 3.3V output of the power supply module, and the ground pin VSS is connected to the system ground. The WiFi module's TX pin is connected to the main control chip's PB11 pin or the corresponding pin of the download port J13 via mode selection switch SW9. The RX pin is connected to the main control chip's PB10 pin or the corresponding pin of the download port J13 via mode selection switch SW10. The EN pin is connected to the 3.3V power supply module via current-limiting resistor R12. The other end of current-limiting resistor R12 is grounded via capacitor C27. The 3.3V power supply module is connected to one end of capacitor C25, and the other end is grounded. Capacitor C26 is connected in parallel across C25. The WiFi module's GND pin is connected to button SW7. The other end of button SW7 is connected to the WiFi module's GPIO0 pin and the cathode of LED5. The anode of LED5 is connected to the 3.3V power supply module via resistor R13. One end of resistor R14 is connected to the 3.3V power supply module, and the other end is connected to button SW7. The servo interface module includes a power pin, a signal pin, and a ground pin. The power pin is connected to the 5V output of the power module through the top power wiring of the PCB board. The signal pin is connected to the designated GPIO pin of the main control chip through the bottom wiring of the PCB board. The ground pin is connected to the system ground.

[0008] Furthermore, the first-stage filter capacitor group includes C48, C49, C50, and C51, with C48 and C49 connected in parallel at the input of the first-stage buck converter chip, and C50 and C51 connected in parallel at the output of the first-stage buck converter chip; the second-stage filter capacitor group includes C43, C44, C45, C46, ​​and C47, with C43, C44, and C45 connected in parallel at the input of the second-stage buck converter chip, and C46 and C47 connected in parallel at the output of the second-stage buck converter chip; the third-stage filter capacitor group includes C42, C38, C36, C32, and C29, with C42, C38, and C36 connected in parallel at the input of the third-stage buck converter chip, and C32 and C29 connected at the output of the third-stage buck converter chip.

[0009] Furthermore, the first-stage step-down chip, consisting of inductor L2, potentiometer R17, and first-stage filter capacitor bank, forms the first-stage step-down circuit. This first-stage step-down circuit is an adjustable voltage circuit, and the voltage adjustment range is 3.3V - input voltage, up to a maximum of 40V, based on potentiometer R17.

[0010] Furthermore, the main control chip module also includes a minimum system and a GPIO expansion interface; the power supply pin VDD of the main control chip is connected to the 3.3V output of the power supply module, and the ground pin VSS is connected to system ground; a high-speed crystal oscillator circuit, consisting of an 8MHz crystal oscillator Y1 and matching capacitors C1 and C2, is connected to the OSC_IN and OSC_OUT pins of the main control chip; a low-speed crystal oscillator circuit, consisting of a 32.768kHz crystal oscillator Y2 and matching capacitors C3 and C4, is connected to the RTC pin of the main control chip; a manual reset circuit, including a reset button SW1 and a pull-up resistor, is connected to the NRST pin of the main control chip; the GPIO expansion interface is expanded through a pin header interface, which includes power supply pins, GPIO signal pins, and ground pins.

[0011] Furthermore, the power module also includes a power indicator circuit. The cathode of LED8 in the power indicator circuit is grounded through a current-limiting resistor R18, and the anode of LED8 is connected to the output terminal of the power switch SW11. Resistor R16 is connected to the input terminal of the second-stage step-down chip, and the other end is connected to the anode of LED7, with the cathode of LED7 grounded. Resistor R15 is connected to the output terminal of the third-stage step-down chip, and the other end is connected to the anode of LED6, with the cathode of LED6 grounded. The resistance values ​​of the current-limiting resistor R18, resistor R16, and resistor R15 are 1kΩ.

[0012] Furthermore, the GPIO pins of the main control chip are extended through a pin header interface and distributed around the PCB board. The pin header interface includes power pins, GPIO signal pins, and ground pins.

[0013] A method for fabricating a wireless motion control robot printed circuit board includes the following steps: A single power supply step: A single external DC power supply is connected via a single power input interface; A two-stage voltage conversion and filtering step: The input voltage is converted into different voltages required by the system through cascaded first-stage, second-stage, and third-stage step-down chips; simultaneously, power ripple is suppressed through decoupling and cascaded filter capacitors; A power and signal layered routing step: The power supply for the servo motor / motor is routed on the top layer of the PCB, and the PWM control signal output by the main control chip is routed on the bottom layer of the PCB, reducing coupling interference through physical layer isolation; A wireless communication and mode switching step: The operating mode of the WiFi module is switched via an operation mode selection switch; In wireless control mode, UART communication is established between the WiFi module and the main control chip to receive external wireless control commands; In firmware download mode, the UART interface of the WiFi module is switched to the download port to achieve control code updates without disassembly.

[0014] Furthermore, in the two-stage voltage conversion and filtering steps, the first-stage buck chip uses a switching power supply for buck conversion, and the voltage adjustment range according to the R17 potentiometer is 3.3V to the input voltage. The second-stage buck chip uses a linear regulation method for buck conversion from 6V to 3.3V. The third-stage buck chip uses a linear regulation method for buck conversion from 7.4V to 5V.

[0015] Furthermore, in the power and signal layered routing step, the top-level power routing and the bottom-level signal routing have no overlapping areas in their vertical projections in space.

[0016] Furthermore, in the wireless communication and mode switching steps, after the firmware download is completed, the mode selection switch is switched back to wireless control mode.

[0017] Furthermore, it also includes the main control chip clock management and reset steps: a high-speed crystal oscillator provides the main clock for system operation, a low-speed crystal oscillator provides the time base for the real-time clock function, and a manual reset circuit enables hard restart in case of system abnormality.

[0018] Furthermore, the PCB board adopts a four-layer design. The first layer is the main signal routing layer and power routing layer. All power supply pins of the servos are routed on this layer, and the power supply output is directly led out in a radial pattern from the output of the power module to each motor interface. The second layer is the ground layer. The third layer is the power layer. The fourth layer is the main signal routing layer, where the servo control signal lines from the GPIO of the main control chip, the UART signal lines between the wireless module and the main control, and the crystal oscillator signal lines are all centrally located.

[0019] Furthermore, in the PCB layout, the main control chip module is located at the center of the PCB with symmetrically distributed pins, the wireless communication module is located on one side of the main control chip module, the power supply module is located at the edge of the PCB, and the servo interface module is distributed around the perimeter of the PCB; the crystal oscillator circuit is adjacent to the main control chip module to reduce the signal transmission path length.

[0020] The beneficial effects of this invention are as follows: Existing technologies require multiple independent external power supplies, while this solution only requires one 7.4V power supply, reducing the size of the device (30% smaller than existing designs) and the complexity of wiring, thereby reducing user costs; The two-stage filtering circuit makes the output voltage ripple coefficient ≤50mV, which is far lower than the 100-200mV of the existing technology, ensuring the stable operation of voltage-sensitive components such as the main control chip and wireless module, and reducing control command errors caused by voltage fluctuations. Existing technologies with same-layer wiring are prone to electromagnetic interference. This solution with layered wiring reduces signal interference intensity by 60% (measured by an oscilloscope, the amplitude of control signal noise is reduced from 500mV to 200mV), and improves robot motion accuracy by 10%-15% (such as reducing servo motor angle control error from ±5° to ±1°). Attached Figure Description

[0021] Figure 1 This is the circuit connection diagram for the power module; Figure 2 This is the circuit connection diagram for the WiFi module; Figure 3 This is the circuit connection diagram of the main control module; Figure 4 This is the circuit connection diagram for the servo motor interface module; Figure 5 This is the PCB layout of the power module; Figure 6 This is the PCB layout of the main control chip module; Figure 7 This is a PCB layout diagram of a wireless motion control robot printed circuit board system. Detailed Implementation

[0022] To enable those skilled in the art to better understand the technical solution, the present invention will be described in detail below with reference to embodiments. The description in this part is only exemplary and explanatory, and should not be used to limit the scope of protection of the present invention in any way.

[0023] Example 1

[0024] See attached document Figure 1 To be continued Figure 4 This embodiment provides a specific wireless motion control robot printed circuit board system. The input interface J27 is used to connect to a 7.4V single power supply. The three-stage step-down chip includes: a first stage (7.4V to 6V, model LM259 optional); a second stage (6V to 3.3V, model AMS1117-3.3 optional); and a third stage (7.4V to 5V, model AMS1117-5.0 optional). The filter capacitors are C48, C50, C43, C46, ​​C42, and C32, all with a capacitance of 10μF, and C49, C51, C44, and C45... C47, C38, C36, and C29 are all 0.1μF capacitors. The cathode of LED8 in the power indicator circuit is grounded through a current-limiting resistor R18, and the anode of LED8 is connected to the output terminal of the power switch SW11. Resistor R16 is connected to the input terminal of the second-stage step-down chip, and the other end is connected to the anode of LED7, whose cathode is grounded. Resistor R15 is connected to the output terminal of the third-stage step-down chip, and the other end is connected to the anode of LED6, whose cathode is grounded. The resistance of the current-limiting resistor R18, resistor R16, and resistor R15 is 1kΩ. After the external 7.4V power supply is connected through SW11, it first passes through the first-stage buck converter. When the switching transistor is on, current flows through inductor L2, and electrical energy is stored in the inductor in the form of magnetic energy. When the switching transistor is off, the inductor, due to its characteristic of "opposing sudden current changes," generates a reverse induced electromotive force, causing the current to continue flowing through the load and freewheeling diode D2, thus maintaining the continuity of the output current. This ultimately converts the input +7.4V to a stable +6V output, stabilizing the voltage to 6V. The voltage can be adjusted from 3.3V to the input voltage using potentiometer R17, up to a maximum of 40V. The 6V voltage is then passed through the second-stage buck converter to output 3.3V. The 7.4V voltage is then passed through the third-stage buck converter to output 5V.

[0025] Inductor L1, together with capacitors C50 and C51 at the output end, forms a low-pass filter circuit, which effectively filters out high-frequency ripple in the output voltage, making the output voltage more stable. The 6V voltage then passes through the second-stage buck converter chip to output 3.3V, which powers modules requiring low voltage, such as the main control chip module. The filter capacitor bank is connected in parallel at the input and output ends of each buck converter chip to filter out high-frequency noise in voltage fluctuations, ensuring that the output voltage ripple coefficient is ≤50mV. LED8 indicates whether the power supply is normal, and LEDs 7 and 6 indicate whether the buck converter circuit is operating normally. When the power is on and the buck converter circuit is working normally, LEDs 6, 7, and 8 are lit.

[0026] The wireless module chip download port J13 is a 4-pin header, with pins defined as 3.3V, TX, RX, GND, and mode selection switches SW9 / SW10. The WiFi module's TX pin is connected to the main control chip's PB11 pin via mode selection switch SW9 or the corresponding pin of download port J13. The RX pin is connected to the main control chip's PB10 pin via mode selection switch SW10 or the corresponding pin of download port J13. The EN pin is connected to the 3.3V power supply module via current-limiting resistor R12. The other end of current-limiting resistor R12 is grounded via capacitor C27. The 3.3V power supply module is connected to one end of capacitor C25, with the other end grounded. Capacitor C26 is connected in parallel across C25. The WiFi module's GND pin is connected to button SW7. The other end of button SW7 is connected to the WiFi module's GPIO0 pin and the cathode of LED5. The anode of LED5 is connected to the 3.3V power supply module via resistor R13. One end of resistor R14 is connected to the 3.3V power supply module, and the other end is connected to button SW7.

[0027] The circuit contains three buttons, each performing a different function: SW10 (TX connects to the main control chip RX), SW9 (RX connects to the main control chip TX). Connect the chip's RX / TX pins to the main control chip's TX / RX pins or an external download serial port using pull-down switches. SW7 (GPIO0): Connect to the GPIO0 pin, which is the download mode trigger pin in the ESP32: When SW7 is pressed, GPIO0 is pulled low, and the LED5 LED chip enters firmware download mode for programming.

[0028] The main control chip module is based on STM32. The STM32F103C8T6 is powered by +3.3V. C10 (1μF), C5 (100nF), C6 (100nF), C7 (100nF), C8 (100nF), and C9 (100nF) form a decoupling filter circuit to filter out high-frequency and low-frequency noise in the power supply, ensuring stable power supply to the microcontroller. The chip's VDD pins (such as VDD_1, VDD_2, VDD_3) are power inputs, and the VSS pins (such as VSS_1, VSS_2, VSSA) are ground, ensuring a normal power supply circuit. A manual reset circuit is formed by the NRST button. When the button is pressed, the microcontroller's NRST pin is pulled low, triggering a chip reset, returning the microcontroller to its initial state and re-running the program. This is used for manual intervention or program debugging in case of system malfunctions. This circuit includes two crystal oscillator circuits to provide clock signals to the microcontroller: a high-speed crystal oscillator U5 (8MHz), which, together with C1 (22pF) and C2 (22pF), forms an 8MHz crystal oscillator circuit connected to the microcontroller's OSC_IN and OSC_OUT pins, providing a high-speed clock that determines the system's operating speed. A low-speed crystal oscillator U4 (32.768kHz), together with C1 (22pF) and C2 (22pF), forms a 32.768kHz crystal oscillator circuit, primarily used for the microcontroller's real-time clock (RTC) function, providing a precise time base. This circuit constitutes the minimum system of the STM32F103C8T6, and various peripherals can be expanded upon to realize various embedded application functions such as data acquisition, control, and communication.

[0029] The servo interface module's GPIO expansion interfaces J4-J7 bring out the microcontroller's GPIO pins PA8-PA11, PB0-PB1, PA6-PA7, PB6-PB9, and PA0-PA3 for connecting various peripherals and expanding output functionality. The interface includes GND and +5V power pins for powering external devices and grounding, as well as four additional groups of 16 3.3V output pins.

[0030] Example 2

[0031] See attached document Figure 5 To be continued Figure 7 This embodiment provides a method for fabricating a printed circuit board for a wireless motion control robot.

[0032] Single power supply steps: Connect a single external DC power supply through a single power input interface; Two-stage voltage conversion and filtering steps: Convert the input voltage to the different voltages required by the system through cascaded first-stage buck converter, second-stage buck converter, and third-stage buck converter; Simultaneously suppress power supply ripple through decoupling and cascaded filter capacitor banks; The first-stage buck converter uses a switching power supply mode to perform a 7.4V to 6V step-down conversion, the second-stage buck converter uses a linear regulation mode to perform a 6V to 3.3V step-down conversion, and the third-stage buck converter converts 7.4V to 5V.

[0033] Power and signal layered routing steps: The power supply wiring of the servo / motor is routed on the top layer of the PCB board, and the PWM control signal output by the main control chip is routed on the bottom layer of the PCB board. Physical layer isolation reduces coupling interference; in the power and signal layered routing steps, the top layer power supply wiring and the bottom layer signal wiring have no overlapping area in the vertical projection of space.

[0034] Wireless communication and mode switching steps: The operating mode of the WiFi module is switched using the mode selection switch; in wireless control mode, UART communication is established between the WiFi module and the main control chip to receive external wireless control commands; in firmware download mode, the UART interface of the WiFi module is switched to the download port to achieve control code updates without disassembly. During the mode switching steps, after the firmware download is complete, the mode selection switches SW9 and SW10 are switched back to wireless control mode. Wireless communication and program download are physically mutually exclusive.

[0035] The PCB adopts a four-layer design. The first layer is the main signal routing layer and power routing layer. All power pins of the servos are routed on this layer, radiating directly from the output of the power module to the motor interfaces with wide conductors. The second layer is a complete ground plane, providing a stable reference ground potential for the entire system. The third layer is the power layer, which is divided into two main areas: a 5V power area, providing a low-impedance current delivery plane for the top-layer motor power traces and connecting to the top-layer power traces through vias to reduce parasitic inductance of the power path and suppress instantaneous voltage drops and noise caused by motor start-stop. A 3.3V power area, providing a clean and stable power plane for core digital circuits such as the wireless module and the main control chip. The fourth layer is the main signal routing layer, where servo control signal lines from the main control chip's GPIO, UART signal lines between the wireless module and the main control chip, and crystal oscillator signal lines are all centrally located.

[0036] In the PCB layout, the main control chip module is located in the center of the PCB with symmetrical pin distribution. The wireless communication module is located on one side of the main control chip module, the power supply module is located at the edge of the PCB, and the servo / motor interface module is distributed around the perimeter of the PCB. The crystal oscillator circuit is adjacent to the main control chip module to reduce the signal transmission path length. A download circuit pin J1 is designed to download control code independently.

[0037] It should be noted that, in this document, the terms "comprising," "including," and any other variations are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Specific examples have been used in this document to illustrate the principles and implementation methods of the present invention. These examples are merely for the purpose of helping to understand the method and core ideas of the present invention. The above descriptions are only preferred embodiments of the present invention. It should be pointed out that, due to the limitations of written expression and the objective existence of infinite specific structures, those skilled in the art can make several improvements, modifications, or variations without departing from the principles of the present invention, and can also combine the above technical features in an appropriate manner. These improvements, modifications, variations, or combinations, or the direct application of the concept and technical solution of the present invention to other situations without modification, should all be considered within the scope of protection of the present invention.

Claims

1. A wireless motion controlled robotic printing system, comprising: The power module, the WiFi module, the main control chip module and the steering engine interface module are included. The input end of the power module is connected with the external 7.4V power interface J27 through the power switch SW11, and the power module includes a first-stage voltage reduction chip, a second-stage voltage reduction chip, a third-stage voltage reduction chip, a first filter capacitor group, a second filter capacitor group and a third filter capacitor group; the input end of the first-stage voltage reduction chip is connected with the output end of the power switch SW11, the output end of the first-stage voltage reduction chip is connected with one end of an inductor L2, the cathode of a freewheeling diode D2 and the input end of the second-stage voltage reduction chip, the other end of the inductor L2 is connected with a potentiometer R17, the anode of the freewheeling diode D2 is grounded and the third-stage voltage reduction chip is connected with the 7.4V power supply; the first filter capacitor group is connected in parallel at the input and output ends of the first-stage voltage reduction chip, the second filter capacitor group is connected in parallel at the input and output ends of the second-stage voltage reduction chip, and the third filter capacitor group is connected in parallel at the input and output ends of the third-stage voltage reduction chip; The main control chip module includes a main control chip, the IO pin of the main control chip is connected with the signal pin of the steering engine interface module through a signal filter capacitor, the power supply pin VDD is connected with the output of the power module 3.3V, and the grounding pin VSS is connected with the system ground; The TX pin of the WiFi module is connected with the PB11 pin of the main control chip or the corresponding pin of the download port J13 through the mode selection switch SW9, the RX pin is connected with the PB10 pin of the main control chip module or the corresponding pin of the download port J13 through the mode selection switch SW10, and the EN pin is connected with the power module 3.3V through the current limiting resistor R12; The steering engine interface module includes a power supply pin, a signal pin and a grounding pin; the power supply pin is connected with the 5V output of the power module through the top layer power supply wiring of the PCB board, the signal pin is connected to the designated GPIO pin of the main control chip through the bottom layer wiring of the PCB board, and the grounding pin is connected with the system ground.

2. The wireless motion controlled robotic printing system of claim 1, wherein, The first-stage filter capacitor group includes C48, C49, C50 and C51, C48 and C49 are connected in parallel at the input end of the first-stage voltage reduction chip, and C50 and C51 are connected in parallel at the output end of the first-stage voltage reduction chip; the second filter capacitor group includes C43, C44, C45, C46 and C47, C43, C44 and C45 are connected in parallel at the input end of the second-stage voltage reduction chip, and C46 and C47 are connected in parallel at the output end of the second-stage voltage reduction chip; the third filter capacitor group includes C42, C38, C36, C32 and C29, C42, C38 and C36 are connected in parallel at the input end of the third-stage voltage reduction chip, and C32 and C29 are connected at the output end of the third-stage voltage reduction chip.

3. The wireless motion controlled robotic printing system of claim 1, wherein, The main control chip module further includes a minimum system and a GPIO expansion interface; the GPIO expansion interface is expanded through a row pin interface, and the row pin interface includes a 3.3V power supply pin, a GPIO signal pin and a grounding pin.

4. The wireless motion controlled robotic printing system of claim 1, wherein, The power module further comprises a power indication circuit, a cathode of an LED 8 of the power indication circuit is connected to ground through a current-limiting resistor R18, and an anode of the LED 8 is connected to an output end of a power switch SW11; a resistor R16 is connected to an input end of a second-stage voltage reduction chip, and an anode of an LED 7 is connected to the other end of the resistor R16, and a cathode of the LED 7 is connected to ground; a resistor R15 is connected to an output end of a third-stage voltage reduction chip, and an anode of an LED 6 is connected to the other end of the resistor R15, and a cathode of the LED 6 is connected to ground; the current-limiting resistor R18, the resistor R16 and the resistor R15 have a resistance of 1kΩ.

5. A wireless motion controlled robot printing method, comprising: The method comprises the following steps: Single power supply step: a single external 7.4V DC power supply is connected through a single power supply input interface J27; Two-stage voltage conversion and filtering step: cascaded first-stage, second-stage and third-stage voltage reduction chips are used to convert the 7.4V input voltage into 6V, 5V and 3.3V respectively; a decoupling and cascaded filtering capacitor group is used to suppress power ripples; Power and signal layered wiring step: the power supply wiring of the rudder is arranged on the top layer of the PCB board, and the PWM control signal output by the main control chip is arranged on the bottom layer of the PCB board; Wireless communication and mode switching step: the working mode of the WiFi module is switched through operation mode selection switches SW9 and SW10; in the wireless control mode, the UART communication between the WiFi module and the main control chip is established to receive external wireless control instructions; in the firmware download mode, the UART interface of the WiFi module is switched to the download port J13 to update the control code without disassembly.

6. The method of claim 5, wherein the wireless motion controlled robotic printing plate is a robotic printing plate. In the two-stage voltage conversion and filtering step, the first-stage voltage reduction chip adopts a switching power supply mode for voltage reduction conversion, and the voltage adjustment range according to the R17 potentiometer is 3.3V~input voltage; the second-stage and third-stage voltage reduction chips adopt a linear voltage stabilizing mode for voltage reduction conversion.

7. The method of claim 5, wherein the wireless motion controlled robot printing plate is a 3D printing plate. In the power and signal layered wiring step, the top layer power wiring and the bottom layer signal wiring have no overlapping area in spatial vertical projection.

8. The method of claim 5, wherein the wireless motion controlled robotic printing plate is a robotic printing plate. In the wireless communication and mode switching step, after the firmware download is completed, the mode selection switches SW9 and SW10 are switched back to the wireless control mode, and the wireless communication and the program download are mutually exclusive in physical connection.

9. The method of claim 5, wherein the wireless motion controlled robotic printing plate is a robotic printing plate. The PCB board adopts a four-layer board design, the first layer is a main signal wiring layer and a power wiring layer, all power supply pin wirings of the rudders are arranged on the layer, and the 6V output end of the power module is directly radiated to each motor interface in a wide wire radial manner; the second layer is a ground layer; the third layer is a power layer; and the fourth layer is a main signal wiring layer, the rudder control signal line led out from the main control chip GPIO, the UART signal line between the wireless module and the main control, and the crystal oscillator signal line are concentratedly arranged on the layer.

10. The method of claim 5, wherein the wireless motion controlled robotic printing plate is a robotic printing plate. In the PCB board layout, the main control chip module is located at the center position of the PCB board, the pins of the main control chip are symmetrically distributed, the wireless communication module is located on one side of the main control chip module, the power module is located at the edge of the PCB board, and the rudder interface module is distributed around the PCB board; and the crystal oscillator circuit is adjacent to the main control chip module.

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