A control circuit of a robot

Abstract

The present application discloses a control circuit of a robot, which includes: a first optical coupler, a second optical coupler, a diode, a first transistor, a second transistor, a third transistor, a fourth transistor, a fifth transistor, a controllable switch and a relay; the control circuit can be used to directly cut off the driving power of the target robot through a collision signal triggered by a collision sensor installed on the target robot. Compared with the prior art, the control circuit provided by the present application can avoid the detection process of the collision signal triggered by the collision sensor by the controller on the target robot, thereby relatively reducing the time required to cut off the driving power, so that the damage caused by the target robot to the obstacle can be relatively reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of control engineering, and in particular to a control circuit of a robot. Background Art

[0002] With the continuous development of science and technology, robots have been widely used in all walks of life. In the prior art, in order to prevent the target robot from colliding with obstacles during operation, a collision sensor is generally installed on the target robot, and the collision sensor is used to detect in real time whether there is an obstacle in front of the target robot. If the collision sensor detects that there is an obstacle in front of the target robot, a collision signal will be triggered to the controller on the target robot. When the controller receives the collision signal triggered by the collision sensor, the controller will turn off the driving power of the target robot to stop the target robot from running and prevent the target robot from damaging the obstacle.

[0003] However, the controller will take a certain amount of time to detect the collision signal triggered by the collision sensor. If the target robot runs too fast, even if the collision sensor on the target robot is triggered, the target robot will still have a large moving distance and cause damage to the obstacle. Moreover, if the controller crashes, the controller will not be able to detect the collision signal triggered by the collision sensor, nor will it be able to shut down the drive power of the target robot. In this case, the target robot will cause greater damage to the obstacle. Currently, there is no effective solution to this technical problem.

[0004] It can be seen that how to provide a robot control circuit to reduce the damage caused by the target robot to obstacles during operation is an urgent problem to be solved by those skilled in the art. Summary of the invention

[0005] In view of this, the purpose of the present invention is to provide a robot control circuit to reduce the damage caused by the target robot to obstacles during operation. The specific scheme is as follows:

[0006] A control circuit of a robot comprises: a first optical coupler, a second optical coupler, a diode, a first triode, a second triode, a third triode, a fourth triode, a fifth triode, a controllable switch and a relay;

[0007] Wherein, the first pin of the first optical coupler is connected to the collision sensor on the target robot, the second pin and the third pin of the first optical coupler are grounded respectively, the fourth pin of the first optical coupler is connected to the base of the first transistor, the emitter of the first transistor is connected to Vcc, the collector of the first transistor is connected to the anode of the diode, the cathode of the diode is connected to the collector of the second transistor and the first end of the first resistor respectively, the second end of the first resistor is connected to the base of the third transistor, the emitter of the second transistor is connected to Vcc, the emitter of the third transistor is grounded, the base of the second transistor is connected to the second end of the second resistor, the cathode of the diode is connected to the collector of the second transistor and the first end of the first resistor respectively, the second end of the first resistor is connected to the base of the third transistor, the emitter of the second transistor is connected to Vcc, the emitter of the third transistor is grounded, the base of the second transistor is connected to the second end of the second resistor, the cathode of the diode is connected to the collector of the second transistor and the first end of the first resistor respectively. The collector of the fourth transistor is connected to the base of the fourth transistor, the emitter of the fourth transistor is connected to Vcc, the collector of the fourth transistor is connected to the first pin of the second optical coupler, the second pin and the third pin of the second optical coupler are grounded respectively, the fourth pin of the second optical coupler is connected to the base of the fifth transistor, the emitter of the fifth transistor is grounded, the collector of the fifth transistor is connected to the control end of the controllable switch, the first end of the controllable switch is connected to Vcc, the second end of the controllable switch is connected to the second pin of the relay, the first pin of the relay is grounded, the third pin of the relay is connected to Vcc, and the fourth pin of the relay is connected to a driving power supply.

[0008] Preferably, the first optocoupler and the second optocoupler are both of type TLP127.

[0009] Preferably, the relay is specifically SLB-24VDC-SL-C.

[0010] Preferably, the controllable switch is a PMOS tube;

[0011] The source of the PMOS tube is the first end of the controllable switch, the drain of the PMOS tube is the second end of the controllable switch, and the gate of the PMOS tube is the control end of the controllable switch.

[0012] Preferably, it also includes a parasitic diode;

[0013] Wherein, the anode of the parasitic diode is connected to the drain of the PMOS tube, and the cathode of the parasitic diode is connected to the source of the PMOS tube.

[0014] Preferably, it also includes: a first current limiting protection circuit, a second current limiting protection circuit, a third current limiting protection circuit, a fourth current limiting protection circuit and a fifth current limiting protection circuit;

[0015] Among them, the first end of the first current limiting protection circuit is connected to the fourth pin of the first optocoupler, the second end of the first current limiting protection circuit is connected to the base of the first transistor, the first end of the second current limiting protection circuit is connected to the base of the second transistor, the second end of the second current limiting protection circuit is connected to the collector of the third transistor, the first end of the third current limiting protection circuit is connected to the collector of the third transistor, the second end of the third current limiting protection circuit is connected to the base of the fourth transistor, the first end of the fourth current limiting protection circuit is connected to the fourth pin of the second optocoupler, the second end of the fourth current limiting protection circuit is connected to the base of the fifth transistor, the first end of the fifth current limiting protection circuit is connected to the collector of the fifth transistor, and the second end of the fifth current limiting protection circuit is connected to the control end of the controllable switch.

[0016] Preferably, the first current limiting protection circuit, the second current limiting protection circuit, the third current limiting protection circuit, the fourth current limiting protection circuit and the fifth current limiting protection circuit are all resistors.

[0017] Preferably, it also includes: a first main control chip and a sixth transistor;

[0018] Among them, the first main control chip is connected to the base of the sixth transistor, the emitter of the sixth transistor is grounded, and the collector of the sixth transistor is connected to the base of the third transistor.

[0019] Preferably, it also includes: a second main control chip, a seventh transistor, an eighth transistor, a third optical coupler and a third resistor;

[0020] Among them, the second main control chip is connected to the base of the seventh transistor, the emitter of the seventh transistor is grounded, the collector of the seventh transistor is connected to the second pin of the third optocoupler, the first pin of the third optocoupler is connected to Vcc, the third pin of the third optocoupler is grounded, the fourth pin of the third optocoupler is respectively connected to the first end of the third resistor and the base of the eighth transistor, the second end of the third resistor is connected to Vcc, the emitter of the eighth transistor is grounded, and the collector of the eighth transistor is respectively connected to the base of the fifth transistor and Vcc.

[0021] It can be seen that, through the control circuit of the robot provided by the present invention, when the target robot encounters an obstacle during operation, the collision sensor installed on the target robot will trigger a collision signal. At this time, the first optical coupler is in the on state, and the collector of the first transistor outputs a voltage signal, so that the third transistor is turned on, and because the collector of the second transistor outputs a voltage signal, the third transistor can remain in the on state, forming a self-locking state; at the same time, the collector of the fourth transistor will also output a voltage signal, so that the second optical coupler is turned on. At this time, the fifth transistor is turned off, and the controllable switch is turned off, so that the relay is disconnected, and the drive power supply cannot supply power to the target robot, so that the target robot stops running and avoids the damage caused to the obstacle during operation by the target robot. Obviously, in the control circuit provided by the present invention, the drive power supply is directly cut off by the collision signal triggered by the collision sensor. Compared with the prior art, the control circuit provided by the present invention can avoid the detection process of the collision signal triggered by the collision sensor by the controller on the target robot, thereby relatively reducing the time required to cut off the drive power supply, so that the damage caused to the obstacle by the target robot can be relatively reduced. Moreover, when the target robot avoids an obstacle, although the collision signal triggered by the collision sensor disappears, the driving power supply still cannot supply power to the target robot due to the self-locking of the control circuit, thereby further reducing the damage caused by the target robot to the obstacle. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0023] Figure 1 A structural diagram of a control circuit of a robot provided by an embodiment of the present invention;

[0024] Figure 2 A structural diagram of a control circuit of another robot provided by an embodiment of the present invention;

[0025] Figure 3 A structural diagram of a control circuit of another robot provided by an embodiment of the present invention;

[0026] Figure 4 A structural diagram of a control circuit of another robot provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] Figure 1 For a control circuit of a robot provided by an embodiment of the present invention, please refer to Figure 1 , the control circuit of the robot includes: a first optical coupler, a second optical coupler, a diode, a first transistor Q1, a second transistor Q2, a third transistor Q3, a fourth transistor Q4, a fifth transistor Q5, a controllable switch and a relay J;

[0029] Among them, the first pin of the first optocoupler is connected to the collision sensor on the target robot, the second pin and the third pin of the first optocoupler are grounded respectively, the fourth pin of the first optocoupler is connected to the base of the first transistor Q1, the emitter of the first transistor Q1 is connected to Vcc, the collector of the first transistor Q1 is connected to the anode of the diode, the cathode of the diode is respectively connected to the collector of the second transistor Q2 and the first end of the first resistor R1, the second end of the first resistor R1 is connected to the base of the third transistor Q3, the emitter of the second transistor Q2 is connected to Vcc, the emitter of the third transistor Q3 is grounded, and the base of the second transistor Q2 is respectively connected to the second end of the second resistor R2, the cathode of the diode is respectively connected to the collector of the second transistor Q2 and the first end of the first resistor R1. The collector of the third transistor Q3 is connected to the base of the fourth transistor Q4, the emitter of the fourth transistor Q4 is connected to Vcc, the collector of the fourth transistor Q4 is connected to the first pin of the second optocoupler, the second pin and the third pin of the second optocoupler are grounded respectively, the fourth pin of the second optocoupler is connected to the base of the fifth transistor Q5, the emitter of the fifth transistor Q5 is grounded, the collector of the fifth transistor Q5 is connected to the control end of the controllable switch, the first end of the controllable switch is connected to Vcc, the second end of the controllable switch is connected to the second pin of the relay J, the first pin of the relay J is grounded, the third pin of the relay J is connected to Vcc, and the fourth pin of the relay J is connected to the driving power supply.

[0030] In the present embodiment, a control circuit of a robot is provided. In the control circuit, when the target robot encounters an obstacle during operation, the collision sensor on the target robot triggers a collision signal. At this time, the first optical coupler is in the on state, and the collector of the first transistor Q1 outputs a voltage signal, thereby turning on the diode, turning on the third transistor Q3, and the collector of the second transistor Q2 also outputs a voltage signal, thereby allowing the third transistor Q3 to remain in the on state to form a self-locking state; at the same time, the collector of the fourth transistor Q4 also outputs a voltage, thereby turning on the second optical coupler. At this time, the fifth transistor Q5 is turned off, and the controllable switch is turned off, thereby disconnecting the relay J, and the driving power supply cannot supply power to the target robot, thereby stopping the target robot from running, thereby avoiding damage to the obstacle caused by the target robot.

[0031] Moreover, when the target robot avoids an obstacle, although the collision signal triggered by the collision sensor disappears, due to the self-locking of the control circuit, the collector of the fourth transistor Q4 will output a voltage signal, causing the second optocoupler to be turned on. At this time, the fifth transistor Q5 is turned off, the controllable switch is turned off, and the relay J is disconnected, so that the driving power supply is still unable to power the target robot, thereby further reducing the damage caused by the target robot to the obstacle.

[0032] It should be noted that, in this embodiment, the focus is on the control logic of the control circuit, and the working principles of the optocoupler, transistor and controllable switch are well known to those skilled in the art, so they are not described in detail in this embodiment. In addition, in this embodiment, the controllable switch can be a PMOS tube, an NMOS tube, or a transistor, which is not specifically limited here.

[0033] It can be seen that, through the control circuit of the robot provided by this embodiment, when the target robot encounters an obstacle during operation, the collision sensor installed on the target robot will trigger a collision signal. At this time, the first optical coupler is in the on state, and the collector of the first transistor outputs a voltage signal, so that the third transistor is turned on, and because the collector of the second transistor outputs a voltage signal, the third transistor can remain in the on state, forming a self-locking state; at the same time, the collector of the fourth transistor will also output a voltage signal, so that the second optical coupler is turned on. At this time, the fifth transistor is turned off, and the controllable switch is turned off, so that the relay is disconnected, and the drive power supply cannot supply power to the target robot, so that the target robot stops running and avoids the damage caused to the obstacle during operation by the target robot. Obviously, in the control circuit provided by this embodiment, the drive power supply is directly cut off by the collision signal triggered by the collision sensor. Compared with the prior art, the control circuit provided by this embodiment can avoid the detection process of the collision signal triggered by the collision sensor by the controller on the target robot, thereby relatively reducing the time required to cut off the drive power supply, so that the damage caused to the obstacle by the target robot can be relatively reduced. Moreover, when the target robot avoids an obstacle, although the collision signal triggered by the collision sensor disappears, the driving power supply still cannot supply power to the target robot due to the self-locking of the control circuit, thereby further reducing the damage caused by the target robot to the obstacle.

[0034] Based on the above embodiments, this embodiment further illustrates and optimizes the technical solution. As a preferred implementation, the types of the first optocoupler and the second optocoupler are both TLP127.

[0035] It can be understood that TLP127 is a 4-pin SO6 packaged, high-voltage resistant optocoupler with a small size. Therefore, in this embodiment, the first optocoupler and the second optocoupler are respectively set to TLP127, so that the space occupied by the first optocoupler and the second optocoupler for the control circuit can be reduced.

[0036] In addition, since TLP127 has strong driving and isolation capabilities, the control circuit can be prevented from being interfered with by other signals; and TLP127 can also operate at an operating temperature of -55°C to 100°C, so when the first optocoupler and the second optocoupler are set to TLP127, the stability of the control circuit during operation can be further improved.

[0037] Based on the above embodiments, this embodiment further illustrates and optimizes the technical solution. As a preferred implementation, the relay is specifically SLB-24VDC-SL-C.

[0038] Specifically, in this embodiment, the relay is set to SLB-12VDC-SL-C, because the SLB-12VDC-SL-C is small in size, the maximum contact switching voltage is 50VDC, the contact load is 40A / 14VDC, and it can withstand a contact switching current of 40A. Moreover, the coil power supply in the SLB-12VDC-SL-C is 12VDC. Such working performance can make the operation of the relay more stable and reliable.

[0039] Based on the above embodiments, this embodiment further illustrates and optimizes the technical solution. As a preferred implementation, the controllable switch is specifically a PMOS tube;

[0040] The source of the PMOS tube is the first end of the controllable switch, the drain of the PMOS tube is the second end of the controllable switch, and the gate of the PMOS tube is the control end of the controllable switch.

[0041] In this embodiment, the controllable switch may be set as a PMOS tube, because the circuit process of the PMOS tube is simple and the price is cheap. Therefore, when the controllable switch is set as a PMOS tube, the cost of the control circuit can be reduced.

[0042] In practical applications, the controllable switch can be set to UTT25P10, because UTT25P10 is a P-channel MOS tube, which not only has a smaller on-resistance and switching speed, but also can withstand high-energy avalanches. Therefore, when the MOS tube is set to UTT25P10, the safety and stability of the control circuit during operation can be further improved.

[0043] As a preferred embodiment, the control circuit of the robot further includes a parasitic diode;

[0044] The anode of the parasitic diode is connected to the drain of the PMOS tube, and the cathode of the parasitic diode is connected to the source of the PMOS tube.

[0045] It is understandable that when the current passing through the PMOS tube is large, it is easy to damage the PMOS tube. At this time, in order to protect the PMOS tube, a parasitic diode can be connected between the drain and source of the PMOS tube to prevent the PMOS tube from being broken down by the large current. Obviously, through such a design method, the safety of the control circuit during operation can be further improved.

[0046] Based on the above embodiments, this embodiment further illustrates and optimizes the technical solution. Figure 2 This is a structural diagram of another robot control circuit provided by an embodiment of the present invention. Figure 2, the control circuit of the robot further includes: a first current limiting protection circuit P1, a second current limiting protection circuit P2, a third current limiting protection circuit P3, a fourth current limiting protection circuit P4 and a fifth current limiting protection circuit P5;

[0047] Among them, the first end of the first current limiting protection circuit P1 is connected to the fourth pin of the first optocoupler, the second end of the first current limiting protection circuit P1 is connected to the base of the first transistor Q1, the first end of the second current limiting protection circuit P2 is connected to the base of the second transistor Q2, the second end of the second current limiting protection circuit P2 is connected to the collector of the third transistor Q3, the first end of the third current limiting protection circuit P3 is connected to the collector of the third transistor Q3, the second end of the third current limiting protection circuit P3 is connected to the base of the fourth transistor Q4, the first end of the fourth current limiting protection circuit P4 is connected to the fourth pin of the second optocoupler, the second end of the fourth current limiting protection circuit P4 is connected to the base of the fifth transistor Q5, the first end of the fifth current limiting protection circuit P5 is connected to the collector of the fifth transistor Q5, and the second end of the fifth current limiting protection circuit P5 is connected to the control end of the controllable switch.

[0048] In this embodiment, in order to further ensure the safety of the control circuit during operation, current limiting control circuits are respectively connected to the base of the first transistor Q1, the base of the second transistor Q2, the base of the fourth transistor Q4, the base of the fifth transistor Q5 and the control end of the controllable switch, so as to avoid damage to each transistor due to excessive transmission current, thereby further ensuring the safety and stability of the control circuit during operation.

[0049] It can be seen that the technical solution provided by this embodiment can further improve the stability and reliability of the control circuit during operation.

[0050] As a preferred implementation, the first current limiting protection circuit P1 , the second current limiting protection circuit P2 , the third current limiting protection circuit P3 , the fourth current limiting protection circuit P4 and the fifth current limiting protection circuit P5 are all resistors.

[0051] It can be understood that the current limiting protection circuit can be expressed in various forms. Specifically in this embodiment, the first current limiting protection circuit P1, the second current limiting protection circuit P2, the third current limiting protection circuit P3, the fourth current limiting protection circuit P4 and the fifth current limiting protection circuit P5 are set as resistors. Since the volume of resistors is small, this can reduce the complexity of the control circuit in the design process. Moreover, since the price of resistors is relatively low, this can also reduce the cost of the control circuit in the design process.

[0052] Based on the above embodiments, this embodiment further illustrates and optimizes the technical solution. Figure 3This is a structural diagram of a control circuit of another robot provided by an embodiment of the present invention. Figure 3 , the control circuit of the robot further includes: a first main control chip and a sixth transistor Q6;

[0053] The first main control chip is connected to the base of the sixth transistor Q6, the emitter of the sixth transistor Q6 is grounded, and the collector of the sixth transistor Q6 is connected to the base of the third transistor Q3.

[0054] Through the structural diagram of the control circuit of the robot provided in this embodiment, the control circuit can also be unlocked and reset. Specifically, the first main control chip and the sixth transistor Q6 are connected in the control circuit of the above-mentioned robot, that is, the first main control chip is connected to the base of the sixth transistor Q6, the emitter of the sixth transistor Q6 is grounded, and the collector of the sixth transistor Q6 is connected to the base of the third transistor Q3.

[0055] When the first master control chip triggers the reset signal, the sixth transistor Q6 is turned on. At this time, the third transistor Q3 is turned off, the fourth transistor Q4 is turned off, the second optocoupler is turned off, the fifth transistor Q5 is turned on, and the controllable switch is turned on. In this case, the relay J is energized, and the driving power supply can supply power to the target robot, thereby realizing the unlocking and resetting of the control circuit and ensuring that the target robot can operate normally.

[0056] Obviously, through the technical solution provided in this embodiment, the control circuit can be unlocked and reset, thereby ensuring the normal operation of the target robot.

[0057] Based on the above embodiments, this embodiment further illustrates and optimizes the technical solution. Figure 4 This is a structural diagram of a control circuit of another robot provided by an embodiment of the present invention. Figure 4 , the control circuit of the robot further includes: a second main control chip, a seventh transistor Q7, an eighth transistor Q8, a third optical coupler and a third resistor R3;

[0058] Among them, the second main control chip is connected to the base of the seventh transistor Q7, the emitter of the seventh transistor Q7 is grounded, the collector of the seventh transistor Q7 is connected to the second pin of the third optocoupler, the first pin of the third optocoupler is connected to Vcc, the third pin of the third optocoupler is grounded, the fourth pin of the third optocoupler is respectively connected to the first end of the third resistor R3 and the base of the eighth transistor Q8, the second end of the third resistor R3 is connected to Vcc, the emitter of the eighth transistor Q8 is grounded, and the collector of the eighth transistor Q8 is respectively connected to the base of the fifth transistor Q5 and Vcc.

[0059] In this embodiment, the second main control chip can also be used to autonomously control the running state of the target robot. Specifically, when the second main control chip triggers the corresponding control signal, the seventh transistor Q7 is turned on, the third optical coupler is turned on, the eighth transistor Q8 is turned off, the fifth transistor Q5 is turned on, and the controllable switch is turned on, thereby causing the relay J to be attracted, and at this time, the driving power supply can supply power to the target robot; when the second main control chip does not trigger the corresponding control signal, the seventh transistor Q7 is turned off, the third optical coupler is turned off, the eighth transistor Q8 is turned on, the fifth transistor Q5 is turned off, and the controllable switch is turned off, thereby causing the relay J to be disconnected, and at this time, the driving power supply cannot supply power to the target robot.

[0060] It should be noted that, in this process, the control priority of the collision sensor is higher than the control priority of the second main control chip, that is, when the target robot encounters a collision object during its movement, the collision sensor on the target robot will trigger a collision signal. At this time, the first optocoupler is turned on, and the collector of the first transistor Q1 outputs a voltage signal, so that the third transistor Q3 is turned on, and the collector of the second transistor Q2 outputs a voltage signal, so that the third transistor Q3 remains in the on state, forming a self-locking state; at the same time, the collector of the fourth transistor Q4 outputs a voltage signal, so that the second optocoupler is turned on. At this time, the fifth transistor Q5 is turned off, the controllable switch is turned off, the relay J is disconnected, and the driving power supply cannot supply power to the target robot, thereby stopping the target robot from running and avoiding damage to obstacles caused by the target robot during operation.

[0061] In other words, in actual applications, if the collision sensor on the target robot fails and cannot detect the obstacles encountered by the target robot during its movement, and the collision sensor cannot trigger a collision signal to the first optocoupler, then the second main control chip can be used to control the operation of the target robot.

[0062] It is worth noting that in actual applications, the first main control chip and the second main control chip can be the same or different. Specifically, in this embodiment, in order to reduce the cost of the control circuit, the first main control chip and the second main control chip are set to be the same chip, that is, the same chip can be used to trigger different control signals.

[0063] It can be seen that the technical solution provided by this embodiment can further ensure the safety and reliability of the target robot during the movement process.

[0064] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0065] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0066] The control circuit of a robot provided by the present invention is introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A control circuit of a robot, characterized in that: include: A first optocoupler, a second optocoupler, a diode, a first triode, a second triode, a third triode, a fourth triode, a fifth triode, a controllable switch and a relay; Wherein, the first pin of the first optical coupler is connected to the collision sensor on the target robot, the second pin and the third pin of the first optical coupler are grounded respectively, the fourth pin of the first optical coupler is connected to the base of the first transistor, the emitter of the first transistor is connected to Vcc, the collector of the first transistor is connected to the anode of the diode, the cathode of the diode is connected to the collector of the second transistor and the first end of the first resistor respectively, the second end of the first resistor is connected to the base of the third transistor, the emitter of the second transistor is connected to Vcc, the emitter of the third transistor is grounded, the base of the second transistor is connected to the second end of the second resistor, the cathode of the diode is connected to the collector of the second transistor and the first end of the first resistor respectively, the second end of the first resistor is connected to the base of the third transistor, the emitter of the second transistor is connected to Vcc, the emitter of the third transistor is grounded, the base of the second transistor is connected to the second end of the second resistor, the cathode of the diode is connected to the collector of the second transistor and the first end of the first resistor respectively. The collector of the transistor is connected to the base of the fourth transistor, the emitter of the fourth transistor is connected to Vcc, the collector of the fourth transistor is connected to the first pin of the second optical coupler, the second pin and the third pin of the second optical coupler are grounded respectively, the fourth pin of the second optical coupler is connected to the base of the fifth transistor, the emitter of the fifth transistor is grounded, the collector of the fifth transistor is connected to the control end of the controllable switch, the first end of the controllable switch is connected to Vcc, the second end of the controllable switch is connected to the second pin of the relay, the first pin of the relay is grounded, the third pin of the relay is connected to Vcc, and the fourth pin of the relay is connected to a driving power supply; Also includes: a first current limiting protection circuit, a second current limiting protection circuit, a third current limiting protection circuit, a fourth current limiting protection circuit and a fifth current limiting protection circuit; Among them, the first end of the first current limiting protection circuit is connected to the fourth pin of the first optocoupler, the second end of the first current limiting protection circuit is connected to the base of the first transistor, the first end of the second current limiting protection circuit is connected to the base of the second transistor, the second end of the second current limiting protection circuit is connected to the collector of the third transistor, the first end of the third current limiting protection circuit is connected to the collector of the third transistor, the second end of the third current limiting protection circuit is connected to the base of the fourth transistor, the first end of the fourth current limiting protection circuit is connected to the fourth pin of the second optocoupler, the second end of the fourth current limiting protection circuit is connected to the base of the fifth transistor, the first end of the fifth current limiting protection circuit is connected to the collector of the fifth transistor, and the second end of the fifth current limiting protection circuit is connected to the control end of the controllable switch.

2. The control circuit according to claim 1, characterized in that: The first optocoupler and the second optocoupler are both of type TLP127.

3. The control circuit according to claim 1, characterized in that: The relay is specifically SLB-24VDC-SL-C.

4. The control circuit according to claim 1, characterized in that: The controllable switch is specifically a PMOS tube; The source of the PMOS tube is the first end of the controllable switch, the drain of the PMOS tube is the second end of the controllable switch, and the gate of the PMOS tube is the control end of the controllable switch.

5. The control circuit according to claim 4, characterized in that: Also includes parasitic diodes; Wherein, the anode of the parasitic diode is connected to the drain of the PMOS tube, and the cathode of the parasitic diode is connected to the source of the PMOS tube.

6. The control circuit according to claim 1, characterized in that: The first current limiting protection circuit, the second current limiting protection circuit, the third current limiting protection circuit, the fourth current limiting protection circuit and the fifth current limiting protection circuit are all resistors.

7. The control circuit according to claim 1, characterized in that: Also includes: The first main control chip and the sixth triode; Among them, the first main control chip is connected to the base of the sixth transistor, the emitter of the sixth transistor is grounded, and the collector of the sixth transistor is connected to the base of the third transistor.

8. The control circuit according to any one of claims 1 to 7, characterized in that: Also includes: A second main control chip, a seventh transistor, an eighth transistor, a third optical coupler and a third resistor; Among them, the second main control chip is connected to the base of the seventh transistor, the emitter of the seventh transistor is grounded, the collector of the seventh transistor is connected to the second pin of the third optocoupler, the first pin of the third optocoupler is connected to Vcc, the third pin of the third optocoupler is grounded, the fourth pin of the third optocoupler is respectively connected to the first end of the third resistor and the base of the eighth transistor, the second end of the third resistor is connected to Vcc, the emitter of the eighth transistor is grounded, and the collector of the eighth transistor is respectively connected to the base of the fifth transistor and Vcc.

Images