Actuator power supply control circuit and robot

Abstract

The utility model relates to an actuator power supply control circuit and a robot. The actuator power supply control circuit comprises a control circuit used for supplying power to a boost circuit; the first end of the booster circuit is connected with the control circuit, the second end of the booster circuit is connected with the slow start circuit, and the booster circuit is used for receiving the output voltage of the control circuit and boosting the output voltage to obtain boosted voltage; and the slow start circuit is used for receiving the boosted voltage and controlling the slow start time of the actuator power supply. By adopting the actuator power supply control circuit, the problem of transient drop of the system bus voltage caused when a plurality of actuator power supplies are started at the same time can be avoided, and the reliability of the system is further guaranteed. And meanwhile, stable operation of the actuator can be realized on the basis of not additionally increasing the system power supply capacity, and the energy efficiency loss is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of actuators, in particular to an actuator power control circuit and a robot. Background Art

[0002] At present, in the actuator power circuit, by increasing the capacity of the system power supply, it is ensured that the system power supply can provide sufficient current when multiple actuators work simultaneously.

[0003] However, the traditional actuator power circuit has a large energy efficiency loss. Summary of the Utility Model

[0004] Based on this, in view of the above technical problems, it is necessary to provide an actuator power control circuit and a robot that can avoid the bus voltage drop when all actuators are turned on simultaneously and reduce the energy efficiency loss of the actuator power circuit.

[0005] In a first aspect, the present application provides an actuator power control circuit, including:

[0006] A control circuit for supplying power to a boost circuit;

[0007] A boost circuit, the first end of the boost circuit is connected to the control circuit, the second end of the boost circuit is connected to a soft start circuit, and the boost circuit is used to receive the output voltage of the control circuit, boost the output voltage, and obtain a boosted voltage;

[0008] A soft start circuit for receiving the boosted voltage and controlling the soft start time of the actuator power supply.

[0009] In one embodiment, the soft start circuit includes:

[0010] A first switching tube for controlling the current of the actuator power supply;

[0011] A first resistor, the first resistor is connected to the first end of the first switching tube;

[0012] A second resistor, the second resistor is connected to the second end of the first switching tube, and the second resistor is used to form a voltage dividing circuit with the first resistor.

[0013] In one embodiment, the soft start circuit further includes: a first capacitor, a second capacitor, and a third resistor; the third resistor is connected to the first end of the first switching tube, the first capacitor is connected to the third resistor; the second capacitor is connected to the second end of the first switching tube;

[0014] The first resistor, the second resistor, the third resistor, the first capacitor, and the second capacitor are used to control the slow conduction time of the first switching tube; and / or

[0015] The soft start circuit further includes a zener diode, and the zener diode is connected to the first switching tube.

[0016] In one embodiment, the control circuit includes:

[0017] A controller for controlling the on / off of the optocoupler;

[0018] An optocoupler, the first end of the optocoupler is connected to the controller for receiving the control signal of the controller; the second end of the optocoupler is connected to the input power supply;

[0019] An input power supply for supplying power to the boost circuit.

[0020] In one embodiment, the control circuit further includes a second switching transistor, the first end of the second switching transistor is connected to the controller, and the second end of the second switching transistor is connected to the optocoupler;

[0021] The second switching transistor is configured to receive the control signal of the controller and control the on / off of the optocoupler according to the control signal.

[0022] In one embodiment, the controller is configured to transmit a first control signal to the second switching transistor to control the second switching transistor to conduct; the controller is further configured to transmit a second control signal to the second switching transistor to control the second switching transistor to cut off.

[0023] In one embodiment, the input power supply includes a main control system power supply and an actuator power supply; when the voltage of the actuator power supply is greater than the voltage of the main control system power supply, the actuator power supply is used to supply power to the boost circuit.

[0024] In one embodiment, the boost circuit includes a controller and a third capacitor; the boost amplitude of the boost circuit is kept consistent with the voltage threshold.

[0025] In one embodiment, when the voltage of the actuator power supply is less than the voltage of the main control system power supply, the voltage difference between the third capacitor and the source electrode of the first switching transistor of the soft start circuit is kept within a target preset range; when the voltage of the actuator power supply is greater than or equal to the voltage of the main control system power supply, the voltage difference between the third capacitor and the source electrode of the first switching transistor is kept consistent with the voltage threshold.

[0026] On the other hand, an embodiment of the present invention further provides a robot, including the actuator power supply control circuit as described in any one of the above.

[0027] The above actuator power control circuit includes: a control circuit for supplying power to a boost circuit; a boost circuit, the first end of which is connected to the control circuit, and the second end of which is connected to a soft-start circuit. The boost circuit is used to receive the output voltage of the control circuit, boost the output voltage, and can obtain a boosted voltage; a soft-start circuit for receiving the boosted voltage and controlling the soft-start time of the actuator power supply to gradually increase the current of the actuator power supply. When multiple actuator power supplies are turned on simultaneously, the control circuit supplies power to the boost circuit, and the boost circuit can keep the voltage within a preset range, and then transmit the voltage to the soft-start circuit. The soft-start circuit can gradually increase the current of each actuator power supply, avoiding the problem of transient voltage drop of the bus voltage when multiple actuator power supplies are turned on simultaneously, and there is no need to increase the system power supply capacity, thereby reducing the energy efficiency loss. Brief Description of the Drawings

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0029] Figure 1 It is a schematic connection diagram of the actuator power control circuit module in an embodiment;

[0030] Figure 2 It is a schematic diagram of the actuator power control circuit in an embodiment.

[0031] 100. Control circuit; 200. Boost circuit; 300. Soft-start circuit. Detailed Embodiments

[0032] To facilitate the understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. Embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs. The terms used in the description of the present invention in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0034] It can be understood that the terms "first", "second", etc. used in the present utility model may be used herein to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish a first element from another element. For example, without departing from the scope of the present utility model, the first resistor may be referred to as the second resistor, and similarly, the second resistor may be referred to as the first resistor. Both the first resistor and the second resistor are resistors, but they are not the same resistor.

[0035] It can be understood that "connection" in the following embodiments should be understood as "electrical connection", "communication connection", etc. if there is transmission of electrical signals or data between the connected circuits, modules, units, etc.

[0036] As used herein, the singular forms "a", "an" and "the" may also include the plural forms unless the context clearly dictates otherwise. It should also be understood that the terms "comprise / include" or "have" etc. specify the presence of the stated features, wholes, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, wholes, steps, operations, components, parts, or combinations thereof. At the same time, the term "and / or" used in this specification includes any and all combinations of the related listed items.

[0037] In the context of the development of modern automation technology, robots and robotic dogs (or called robot dogs), as advanced intelligent robots, have been widely used in various fields, including security, logistics, medical care, and services. Such robots usually have a high degree of flexibility and mobility, and can perform complex tasks and work in various environments. Actuators are the key to realizing the movements of robots and robotic dogs. Actuators need to be able to achieve the motion control of multiple joints to realize the adjustment of different angles and speeds of robots and robotic dogs. Each robot and robotic dog includes multiple actuators. The transient starting current and peak operating current of a single actuator are both above 10A. When all actuators are turned on simultaneously, the transient large current will cause the bus voltage to drop, seriously affecting the normal operation or even restart of other functional units in the system. Therefore, in order to ensure the efficient operation and stability of robots and robotic dogs, it is necessary to effectively control the actuator power supply.

[0038] In one exemplary embodiment, such as Figure 1As shown in the figure, it is a schematic diagram of the connection of the actuator power control circuit module. The actuator power control circuit includes a control circuit 100, a boost circuit 200, and a soft-start circuit 300. The control circuit 100 is used to supply power to the boost circuit 200. The first end of the boost circuit 200 is connected to the control circuit 100, and the second end of the boost circuit 200 is connected to the soft-start circuit 300. The boost circuit 200 is used to receive the output voltage of the control circuit 100, boost this output voltage to obtain a boosted voltage. The soft-start circuit 300 is used to receive this boosted voltage and control the soft-start time of the actuator power supply.

[0039] Among them, an actuator refers to a device that converts a control signal into an actual physical action. The actuator power control circuit refers to a circuit used to manage and control the power supply of the actuator. The actuator power control circuit can enable the actuator to obtain appropriate voltage and current, thereby ensuring the normal operation of the actuator. Exemplarily, the actuator can be applied in robots and robotic dogs.

[0040] Optionally, the control circuit can include a power supply and a controller, which are used to supply power to the boost circuit 200. The boost circuit 200 can include a capacitor and a diode device, and the boost circuit 200 is used to increase the input voltage to a higher voltage. The soft-start circuit 300 can include a switching transistor, resistors and capacitors, and a voltage regulator diode. The soft-start circuit 300 can gradually increase the current of the actuator power supply to avoid problems of power fluctuations caused by excessive current instantaneously.

[0041] In this embodiment, the actuator power control circuit includes a control circuit 100, a boost circuit 200, and a soft-start circuit 300. The control circuit 100 is used to supply power to the boost circuit 200. The first end of the boost circuit 200 is connected to the control circuit 100, and the second end of the boost circuit 200 is connected to the soft-start circuit 300. The boost circuit 200 is used to receive the output voltage of the control circuit 100, boost this output voltage to obtain a boosted voltage. The soft-start circuit 300 is used to receive this boosted voltage and control the soft-start time of the actuator power supply, so that the current of the actuator power supply increases gradually. When multiple actuator power supplies are turned on simultaneously, the control circuit 100 supplies power to the boost circuit 200. The boost circuit 200 can keep the voltage within a preset range, and then transmit the voltage to the soft-start circuit 300. The soft-start circuit 300 can gradually increase the current of each actuator power supply, avoid the problem of transient voltage drop of the busbar voltage when multiple actuator power supplies are turned on simultaneously, and there is no need to increase the system power supply capacity, thereby reducing the energy efficiency loss.

[0042] In one exemplary embodiment, such as Figure 2The figure shows a schematic diagram of an actuator power control circuit. The control circuit 100 includes a controller, an optocoupler U1, and an input power supply. The controller is used to control the on / off of the optocoupler U1. The first end of the optocoupler U1 is connected to the controller and is used to receive the control signal of the controller. The second end of the optocoupler U1 is connected to the input power supply. The input power supply is used to supply power to the boost circuit 200.

[0043] Among them, the optocoupler U1 is an optoelectronic coupler. The controller is a microcontroller unit (MCU). The MCU controller is used to output a control signal to control the on / off of the optocoupler U1. The first end of the optocoupler U1 is connected to the controller and is used to receive the control signal of the controller. The second end of the optocoupler U1 is connected to the input power supply. The third end of the optocoupler U1 is connected to the boost circuit 200. When the MCU controller controls the optocoupler U1 to conduct, the input power supply supplies power to the boost circuit 200.

[0044] In the previous exemplary embodiment, the control circuit 100 further includes a second switching transistor Q2. The first end of the second switching transistor Q2 is connected to the MCU controller, and the second end of the second switching transistor Q2 is connected to the optocoupler U1. The second switching transistor Q2 is used to receive the control signal of the MCU controller and control the on / off of the optocoupler U1 according to the control signal.

[0045] Among them, the MCU controller is used to transmit a first control signal to the second switching transistor Q2 to control the second switching transistor to conduct. The MCU controller is also used to transmit a second control signal to the second switching transistor Q2 to control the second switching transistor to cut off.

[0046] Exemplarily, the first control signal is a high-level signal, and the second control signal is a low-level signal.

[0047] Optionally, the second switching transistor Q2 is used to receive the control signal of the MCU controller. When the MCU controller outputs a high level, the second switching transistor Q2 conducts, and then the optocoupler U1 conducts. At this time, the input power supply supplies power to the boost circuit 200, and the boost circuit 200 starts to work. When the MCU controller outputs a low level, the second switching transistor Q2 cuts off, and then the optocoupler U1 does not conduct, and the boost circuit 200 does not work.

[0048] It can be understood that although an optocoupler is used to realize the on / off of the input power supply in the above-mentioned embodiments, alternatively, a metal-oxide-semiconductor field-effect transistor (MOSFET) or a triode can be used for replacement in low-voltage scenarios.

[0049] In this embodiment, the control circuit 100 controls the on / off of the optocoupler through the control signal of the MCU controller, thereby controlling the on / off between the input power supply and the boost circuit 200, realizing the power supply to the boost circuit 200, and enabling precise control of the actuator power control circuit, enhancing the safety of the actuator power supply.

[0050] In the previous exemplary embodiment, the input power supply includes the main control system power supply VCC_SYS and the actuator power supply V_Motor; when the voltage of the actuator power supply V_Motor is greater than the voltage of the main control system power supply VCC_SYS, the actuator power supply V_Motor is used to supply power to the boost circuit 200.

[0051] Optionally, the main control system power supply VCC_SYS can be 5V, and the main control system power supply VCC_SYS and the actuator power supply V_Motor are combined through a diode as the input power supply of the lower-level boost circuit 200. When the MCU controller outputs a high level, the second switching transistor Q2 conducts, and then the optocoupler U1 conducts. At this time, the input power supply supplies power to the boost circuit 200, and the boost circuit 200 starts to work. The soft-start circuit 300 connected to the boost circuit 200 conducts, that is, the actuator power supply V_Motor starts to supply power. When the MCU controller outputs a low level, the second switching transistor Q2 cuts off, and then the optocoupler U1 does not conduct, the boost circuit 200 does not work, and the soft-start circuit 300 connected to the boost circuit 200 is turned off, that is, the actuator power supply V_Motor is turned off.

[0052] Exemplarily, when the actuator power control circuit starts to work for the first time, the actuator power supply V_Motor is turned off and the voltage is 0V; at this time, the diode D2 conducts, and the main control system power supply VCC_SYS serves as the input power supply of the lower-level boost circuit 200. When the main control system power supply VCC_SYS serves as the input power supply of the lower-level boost circuit 200 to make the boost circuit 200 start to work and the soft-start circuit 300 connected to the boost circuit 200 conducts, the actuator power supply V_Motor gradually increases until it is greater than the main control system power supply VCC_SYS. At this time, the diode D1 conducts, and the actuator power supply V_Motor serves as the input power supply of the lower-level boost circuit 200, and the soft-start circuit 300 maintains a stable conduction state.

[0053] In this embodiment, using the main control system power supply VCC_SYS and the actuator power supply V_Motor combined as the input power supply of the lower-level boost circuit 200 can ensure the reliability of the lower-level boost circuit 200, and thus maintain the stability of the actuator. At the same time, when the actuator power supply V_Motor gradually increases until it is greater than the main control system power supply VCC_SYS and the actuator power supply V_Motor serves as the input power supply of the lower-level boost circuit 200, it can reduce the burden on the main control system power supply.

[0054] In one exemplary embodiment, please refer to again Figure 2 , the boost circuit 200 includes a controller and a third capacitor C6; the boost amplitude of the boost circuit 200 is kept consistent with the voltage threshold.

[0055] Optionally, the controller is an MCU controller, and the MCU controller outputs a Pulse Width Modulation (PWM) signal, and the PWM signal can be 40KHz. The boost circuit 200 further includes a plurality of diodes (D1, D2, D4~D6) and a plurality of capacitors (C3~C6). The voltage threshold can be set to 2*VCC_SYS, that is, the boost amplitude of the boost circuit 200 can be set to 2*VCC_SYS.

[0056] In the previous exemplary embodiment, when the voltage of the actuator power supply V_Motor is less than the voltage of the main control system power supply VCC_SYS, the voltage difference between the third capacitor C6 and the source electrode of the first switching tube is kept within the target preset range; when the voltage of the actuator power supply V_Motor is greater than or equal to the voltage of the main control system power supply VCC_SYS, the voltage difference between the third capacitor C6 and the source electrode of the first switching tube is kept consistent with the voltage threshold.

[0057] Exemplarily, the target preset range can be set to 2*VCC_SYS to 3*VCC_SYS.

[0058] When the input power supply of the control circuit 100 is turned on and the actuator power supply V_Motor is less than the main control system power supply VCC_SYS, the voltage on the third capacitor C6 at the output end of the boost circuit 200 is VCC_SYS + 2*VCC_SYS, and the voltage difference range between the third capacitor C6 and the source electrode of the first switching tube of the soft start circuit 300 is 2*VCC_SYS to 3*VCC_SYS. When the actuator power supply V_Motor is greater than or equal to the main control system power supply VCC_SYS, the voltage on the third capacitor C6 at the output end of the boost circuit 200 is V_Motor + 2*VCC_SYS, and the voltage difference range between the third capacitor C6 and the source electrode of the first switching tube of the soft start circuit 300 is fixed at the voltage threshold 2*VCC_SYS.

[0059] The boost circuit 200 further includes a resistor R7, and the resistor R7 serves as a path for rapid discharge when the input power supply of the control circuit 100 is turned off.

[0060] In this embodiment, the boost circuit 200 includes a controller, a plurality of diodes and a plurality of capacitors, and can boost the input voltage to output a boosted voltage. By keeping the boost amplitude of the boost circuit 200 consistent with the voltage threshold, the boosted voltage can be maintained within the optimal voltage range, and a stable voltage output can be maintained, thereby improving the energy efficiency of the actuator power control circuit.

[0061] In one exemplary embodiment, please refer again to Figure 2 , the soft-start circuit 300 includes a first switching transistor Q1, a first resistor R5 and a second resistor R3. The first switching transistor Q1 is used to control the on / off of the actuator power supply V_Motor; the first resistor R5 is connected to the first end of the first switching transistor Q1; the second resistor R3 is connected to the second end of the first switching transistor Q1, and the second resistor R3 is used to form a voltage-dividing circuit with the first resistor R5.

[0062] Exemplarily, the first switching transistor Q1 serves as the actuator power switch, and the first switching transistor Q1 can be set as an N-type metal-oxide-semiconductor (N-MOS) transistor. The N-MOS transistor includes a source electrode (S), a gate electrode (G) and a drain electrode (D). When the voltage between the gate electrode (G) and the source electrode (S) is greater than a certain specific value, the drain electrode (D) and the source electrode are turned on. The first end of the first switching transistor Q1 is the gate electrode (G) of the N-MOS transistor, the second end of the first switching transistor Q1 is the source electrode (S) of the N-MOS transistor, and the third end of the first switching transistor Q1 is the drain electrode (D) of the N-MOS transistor. The first resistor R5 is connected to the first end of the first switching transistor Q1; the second resistor R3 is connected to the second end of the first switching transistor Q1, and the second resistor R3 is used to form a voltage-dividing circuit with the first resistor R5, which can ensure that the N-MOS transistor is stably turned on and does not exceed the limit.

[0063] In the traditional actuator power control circuit, a positive-channel metal oxide semiconductor (PMOS) transistor is used as the actuator power switch, which has the problem of excessive internal resistance and serious heating. Therefore, in this embodiment, an N-MOS transistor is used as the actuator power switch in the actuator power control circuit, and a soft-start design is added to the actuator power switch, which can solve the problem of excessive internal resistance and serious heating, and can avoid the problem of the bus voltage drop of the system circuit at the moment when the actuator is turned on.

[0064] In one exemplary embodiment, please refer again to Figure 2, the soft start circuit 300 further includes: a first capacitor C1, a second capacitor C2, and a third resistor R2; the third resistor R2 is connected to the first terminal (the gate (G) of the NMOS transistor) of the first switching transistor Q1, and the first capacitor C1 is connected to the third resistor R2; the second capacitor C2 is connected to the second terminal (the source (S) of the NMOS transistor) of the first switching transistor Q1; the first resistor R5, the second resistor R3, the third resistor R2, the first capacitor C1, and the second capacitor C2 are used to control the slow turn-on time of the first switching transistor Q1.

[0065] The soft start circuit 300 further includes a zener diode D3 and a battery power supply (VBAT). The zener diode D3 is connected to the first switching transistor Q1, and the zener diode D3 is used to protect the voltage between the gate (G) and the source (S) of the NMOS transistor. The positive electrode (VBAT+) of the battery power supply is connected to the third terminal (the drain (D) of the NMOS transistor) of the first switching transistor Q1.

[0066] When the control circuit 100 is turned on, outputs power to the boost circuit 200, and after the boost circuit 200 boosts the voltage, the voltage difference range between the third capacitor C6 of the boost circuit 200 and the source (S) of the NMOS transistor is fixed at (2*VCC_SYS to 3*VCC_SYS). The first resistor R5 and the second resistor R3 are used to form a voltage divider, thereby ensuring that the NMOS transistor can be stably turned on without exceeding the limit. The first resistor R5, the third resistor R2, the first capacitor C1, the second capacitor C2, and the second resistor R3 are used to control the soft start time of the first switching transistor Q1, so that the first switching transistor Q1 is slowly turned on, and then the current of the actuator power supply V_Motor gradually increases, realizing the control of the soft start time of the actuator power supply V_Motor.

[0067] In this embodiment, adding the soft start circuit 300 to the actuator power control circuit can make the current of each actuator power supply increase slowly when multiple actuators are connected at the same time, avoiding the problem of transient voltage drop of the system bus voltage when multiple actuator power supplies are turned on at the same time, thereby ensuring the reliability of the system. At the same time, it can realize the stable operation of the actuator without additionally increasing the power supply capacity, reducing the energy efficiency loss.

[0068] In another exemplary embodiment, the actuator power control circuit includes:

[0069] The control circuit 100 is used to supply power to the boost circuit 200. The control circuit 100 includes a controller, an optocoupler, an input power supply, and a second switching tube. The controller is used to transmit a first control signal to the second switching tube to control the second switching tube to conduct. The controller is also used to transmit a second control signal to the second switching tube to control the second switching tube to cut off. The first end of the optocoupler is connected to the controller and is used to receive the control signal of the controller. The second end of the optocoupler is connected to the input power supply. The input power supply is used to supply power to the boost circuit 200. The input power supply includes a main control system power supply and an actuator power supply. When the voltage of the actuator power supply is greater than the voltage of the main control system power supply, the actuator power supply is used to supply power to the boost circuit 200.

[0070] The boost circuit 200, the first end of the boost circuit 200 is connected to the control circuit 100, the second end of the boost circuit 200 is connected to the soft-start circuit 300. The boost circuit 200 is used to receive the output voltage of the control circuit 100, boost the output voltage to obtain a boosted voltage. The boost circuit 200 includes a controller and a third capacitor. The boost amplitude of the boost circuit 200 is kept consistent with the voltage threshold.

[0071] When the voltage of the actuator power supply is less than the voltage of the main control system power supply, the voltage difference between the third capacitor and the source electrode of the first switching tube of the soft-start circuit 300 is kept within the target preset range. When the voltage of the actuator power supply is greater than or equal to the voltage of the main control system power supply, the voltage difference between the third capacitor and the source electrode of the first switching tube is kept consistent with the voltage threshold.

[0072] The soft-start circuit 300 is used to receive the boosted voltage and control the soft-start time of the actuator power supply. The soft-start circuit 300 includes a first switching tube, a first resistor, a second resistor, a first capacitor, a second capacitor, a third resistor, and a zener diode. The first switching tube is used to control the current of the actuator power supply. The first resistor is connected to the first end of the first switching tube. The second resistor is connected to the second end of the first switching tube, and the second resistor is used to form a voltage dividing circuit with the first resistor. The third resistor is connected to the first end of the first switching tube, and the first capacitor is connected to the third resistor. The second capacitor is connected to the second end of the first switching tube. The first resistor, the second resistor, the third resistor, the first capacitor, and the second capacitor are used to control the slow conduction time of the first switching tube. The zener diode is connected to the first switching tube.

[0073] In this embodiment, the control circuit 100 controls the on / off of the optocoupler through the control signal of the MCU controller, thereby controlling the on / off between the input power supply and the boost circuit 200, realizing the power supply to the boost circuit 200, and enabling precise control of the actuator power control circuit, enhancing the safety of the actuator power supply. Using the combined power supply of the main control system power supply VCC_SYS and the actuator power supply V_Motor as the input power supply of the lower-level boost circuit 200 can ensure the reliability of the lower-level boost circuit 200, and thus maintain the stability of the actuator. The boost circuit 200 boosts the input voltage and can output a boosted voltage. Adding a soft-start circuit 300 to the actuator power control circuit can slow down the increase of the current of each actuator power supply when multiple actuators are connected simultaneously, avoiding the problem of transient voltage drop of the system bus caused by the simultaneous startup of multiple actuator power supplies, and thus ensuring the reliability of the system. At the same time, it can achieve the stable operation of the actuator without increasing the power supply capacity additionally, reducing the energy efficiency loss.

[0074] In one embodiment, a robot is further provided, including the actuator power control circuit according to any one of the above.

[0075] In the description of this specification, the description with reference to terms such as "some embodiments", "other embodiments", "ideal embodiments", etc. means that the specific features, structures, materials or features described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic description of the above terms does not necessarily refer to the same embodiment or example.

[0076] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0077] The above embodiments only represent several implementation manners of the present invention, and the description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the utility model patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the utility model patent should be subject to the appended claims.

Claims

1. An actuator power control circuit, characterized in that, Comprising: A control circuit for supplying power to a boost circuit; A boost circuit, a first end of the boost circuit being connected to the control circuit, a second end of the boost circuit being connected to a soft-start circuit, the boost circuit being configured to receive an output voltage of the control circuit and boost the output voltage to obtain a boosted voltage; A soft-start circuit for receiving the boosted voltage and controlling a soft-start time of an actuator power supply.

2. The actuator power control circuit according to claim 1, characterized in that The soft-start circuit includes: A first switching transistor for controlling a current of the actuator power supply; A first resistor, the first resistor being connected to a first end of the first switching transistor; A second resistor, the second resistor being connected to a second end of the first switching transistor, the second resistor being configured to form a voltage-dividing circuit with the first resistor.

3. The actuator power control circuit according to claim 2, wherein The soft-start circuit further includes: a first capacitor, a second capacitor, and a third resistor; the third resistor is connected to the first end of the first switching transistor, the first capacitor is connected to the third resistor; the second capacitor is connected to the second end of the first switching transistor; The first resistor, the second resistor, the third resistor, the first capacitor, and the second capacitor are configured to control a slow conduction time of the first switching transistor; and / or The soft-start circuit further includes a zener diode, the zener diode being connected to the first switching transistor.

4. The actuator power control circuit according to claim 1, characterized in that, The control circuit includes: A controller for controlling turning on and off of an optocoupler; An optocoupler, a first end of the optocoupler being connected to the controller for receiving a control signal of the controller; a second end of the optocoupler being connected to an input power supply; An input power supply for supplying power to the boost circuit.

5. The actuator power control circuit according to claim 4, characterized in that, The control circuit further includes a second switching transistor, a first end of the second switching transistor being connected to the controller, a second end of the second switching transistor being connected to the optocoupler; The second switching transistor is configured to receive a control signal of the controller and control turning on and off of the optocoupler according to the control signal.

6. The actuator power control circuit according to claim 5, wherein, The controller is configured to transmit a first control signal to the second switching transistor to control the second switching transistor to turn on; the controller is further configured to transmit a second control signal to the second switching transistor to control the second switching transistor to turn off.

7. The actuator power control circuit according to claim 4, characterized in that, The input power supply includes a main control system power supply and an actuator power supply; when a voltage of the actuator power supply is greater than a voltage of the main control system power supply, the actuator power supply is configured to supply power to the boost circuit.

8. The actuator power control circuit according to claim 7, characterized in that, The boost circuit includes a controller and a third capacitor; a boost amplitude of the boost circuit is kept consistent with a voltage threshold.

9. The actuator power control circuit according to claim 8, wherein When a voltage of the actuator power supply is less than a voltage of the main control system power supply, a voltage difference between a third capacitor and a source electrode of the first switching transistor of the soft-start circuit is kept within a target preset range; when a voltage of the actuator power supply is greater than or equal to a voltage of the main control system power supply, the voltage difference between the third capacitor and the source electrode of the first switching transistor is kept consistent with the voltage threshold.

10. A robot, characterized in that, Including the actuator power supply control circuit according to any one of claims 1 to 9.

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