Power-on self-locking protection circuit and power supply, exoskeleton robot

Abstract

The present invention relates to the field of power supply technology, and discloses a power-on self-locking protection circuit, including a power-on self-locking circuit, which includes: a first loop formed by sequentially connecting an input voltage VDD, a switch button K, a first diode D1, a first resistor R1, and a transistor Q2, a second loop formed by sequentially connecting an input voltage VDD, a second resistor R2, a third resistor R3, and a transistor Q2, and a MOS tube Q1 driven by the second resistor R2 and the third resistor R3, a second diode D2 connected to the common end of the first diode D1 and the first resistor R1, and an MCU connected to the second diode D2; a power supply and an exoskeleton robot both including a power-on self-locking protection circuit are also disclosed. The present invention is easy to operate, and there is no need to frequently plug and unplug the plug each time it is powered on; electric sparks are not easy to occur at the moment of powering on or off, and the equipment can be protected; and the hardware circuit is relatively simple.

Description

Technical Field

[0001] The present invention relates to the technical field of power supply, and in particular to a power-on self-locking protection circuit and power supply, and an exoskeleton robot. Background Art

[0002] As a wearable smart device, the exoskeleton system has a complex control system, including: the software control needs to process a variety of data, and the hardware needs multiple components to cooperate in order to achieve stable and reliable operation during the power-assisting process. Therefore, reducing the workload of software control and simplifying the hardware circuit is a development trend.

[0003] A power-on self-locking circuit is generally set up in the power supply circuit of the exoskeleton system. It uses a combination of software and hardware to perform power-on self-locking. In the software program, it is necessary to control more output signals and input signals, the control logic is complex, and the software control workload is large; in hardware, the circuit design is generally more complex and has more components.

[0004] In addition, high-power equipment (such as exoskeleton robots) has a large load and a large circuit current. Sparks are easily generated at the moment of power-on or power-off, which increases the risk of equipment damage and causes serious economic losses. The commonly used method on the market is to set a switch or a switch with a relay between the power supply and the equipment as power-on protection, but good relays are expensive and the circuit cost increases.

[0005] For example, the invention patent application with the name of "A power-on self-locking protection circuit and power supply" and application number 201810619861.6 includes a power-on pulse control module and a self-locking control module provided with an MCU. The capacitor C1 in the power-on pulse control module is located between the first resistor R1 and the first switch module, and is used to charge to form a pulse to turn on the first switch module, thereby allowing the input power supply VIN to power the MCU, that is, the capacitor C1 is used for charging; when an abnormality occurs during power use, the MCU cuts off the power to the self-locking control module, thereby replacing the role of the switching element in the electronic product; however, during the use of the power supply, since the charging of the capacitor C1 is premised on the generation of pulses, and the pulse generation only occurs at the moment of power-on, if an abnormality occurs, causing the circuit to automatically protect and cut off the power, after the fault is eliminated, it is necessary to unplug the plug again to power on again, which is inconvenient to operate; and when applied to high-power equipment, the electric sparks generated at the moment of power-on or power-off can easily cause damage to the equipment. Summary of the invention

[0006] The present invention aims at the inconvenience of operating the power-on self-locking circuit in the prior art, and the need to plug and unplug the plug before powering on each time the power is cut off due to factors such as faults; in addition, to address the disadvantage that high-power equipment has no protection function, a power-on self-locking protection circuit and a power supply, and an exoskeleton robot are provided, which are provided with a switch button K. After the plug is plugged in for the first time to power on, the power can be turned on again by pressing the switch button. There is no need to plug and unplug the plug again when the power is cut off due to a fault. The operation is convenient, and electric sparks can be avoided, thereby protecting the equipment and the cost is low.

[0007] In order to solve the above technical problems, the present invention is solved by the following technical solutions:

[0008] A power-on self-locking protection circuit includes a power-on self-locking circuit, which includes an input voltage VDD, a first diode D1, a second diode D2, a transistor Q2, a first resistor R1, a third resistor R3, an MCU, and a switch button K, a second resistor R2, and a MOS tube Q1 all connected to the input voltage VDD, one end of the first diode D1 is connected to the switch button K, and the other end is connected to one end of the first resistor R1, and the other end of the first resistor R1 is connected to the base of the transistor Q2; one end of the third resistor R3 is connected to the second resistor R2, and the other end is connected to the collector of the transistor Q2, and the emitter of the transistor Q2 is grounded; the gate of the MOS tube Q1 is connected to the common end of the second resistor R2 and the third resistor R3; one end of the second diode D2 is connected to the common end of the first diode D1 and the first resistor R1, and the other end of the second diode D2 is connected to the MCU. After the switch button K is pressed, the current passes through the switch button K, the first diode D1, the first resistor R1, and the transistor Q2, and then passes through the third resistor R3, the second resistor R2, and the transistor Q2. A voltage difference is generated between the second resistor R2 and the third resistor R3, and the voltage difference drives the MOS tube Q1. After the MOS tube Q1 works, the circuit voltage VCC is powered on. The GPIO (signal output end) of the MCU controls the anode of the second diode D2 to maintain a high level. The second diode D2, the first resistor R1, the transistor Q2, the third resistor R3, the second resistor R2, the MOS tube Q1, and the circuit voltage VCC form a loop conduction to achieve the power-on self-locking function, and realize the controllable power-on process of the main system (equipment). Using a physical switch (switch button K) + MOS tube, and the current in the circuit is at the electrical signal level (microampere level), so no electric sparks will be generated at the moment of power-on or power-off, which can protect the equipment. Every time you need to power on, just press the switch button K, without plugging and unplugging the plug, and it is easy to operate.

[0009] Furthermore, the anode of the first diode D1 is connected to the switch button K, and the cathode is connected to the first resistor R1.

[0010] Furthermore, the cathode of the second diode D2 is connected to the common end of the cathode of the first diode D1 and the first resistor R1, and the anode of the second diode D2 is connected to the MCU.

[0011] Furthermore, the input voltage VDD is also connected to the source of the MOS transistor Q1.

[0012] Furthermore, it also includes an automatic power-off circuit, which includes a branch formed by connecting the MCU and the anode of the second diode D2. The main system controls the automatic power-off.

[0013] Furthermore, the automatic power-off circuit further includes a fourth resistor R4, one end of which is connected to the common end of the anode of the second diode D2 and the GPIO (signal output end) of the MUC, and the other end of which is grounded.

[0014] Furthermore, it also includes a switch button power-off circuit, which includes a branch formed by connecting the switch button K, the third diode D3, and the MCU in sequence, and a branch formed by connecting the first diode D1, the second diode D2, and the MCU in sequence. Press the switch button K again to perform an external forced power-off to avoid the situation where the main system fails to automatically power off in an emergency.

[0015] Furthermore, the anode of the third diode D3 is connected to the switch button K, and the anode and cathode of the first diode D1 are connected to the GPIO (signal input terminal) of the MCU.

[0016] Furthermore, the switch button power-off circuit also includes a fifth resistor R5, one end of the fifth resistor R5 is connected to the common end of the third diode D3 and the GPIO (signal input end) of the MCU, and the other end is grounded.

[0017] The present invention also provides a power-on self-locking protection circuit, including a power-on self-locking circuit, the power-on self-locking circuit including: a first loop formed by connecting an input voltage VDD, a switch button K, a first diode D1, a first resistor R1, and a transistor Q2 in sequence; a second loop formed by connecting an input voltage VDD, a second resistor R2, a third resistor R3, and a transistor Q2 in sequence; and a MOS transistor Q1 driven by the second resistor R2 and the third resistor R3, a second diode D2 connected to a common end of the first diode D1 and the first resistor R1, and an MCU connected to the second diode D2. After power-on, the second diode D2, the first resistor R1, the transistor Q2, the third resistor R3, the second resistor R2, and the MOS transistor Q1 form a loop that is turned on.

[0018] Furthermore, an automatic power-off circuit is also included, and the automatic power-off circuit includes a branch formed by connecting the MCU and the anode of the second diode D2.

[0019] Furthermore, the automatic power-off circuit further includes a fourth resistor R4, one end of which is connected to the common end of the anode of the second diode D2 and a GPIO of the MUC, and the other end of which is grounded.

[0020] Furthermore, it also includes a switch button power-off circuit, which includes a branch formed by connecting the switch button K, the third diode D3, and the MCU in sequence, and a branch formed by connecting the first diode D1, the second diode D2, and the MCU in sequence.

[0021] Furthermore, the anode of the third diode D3 is connected to the switch button K, and the anode and cathode of the first diode D1 are connected to a GPIO of the MCU.

[0022] Furthermore, the switch button power-off circuit also includes a fifth resistor R5, one end of the fifth resistor R5 is connected to the common end of the third diode D3 and a GPIO of the MCU, and the other end is grounded.

[0023] The present invention also provides a power supply, comprising the above-mentioned power-on self-locking protection circuit.

[0024] The present invention also provides an exoskeleton robot, comprising the above-mentioned power-on self-locking protection circuit.

[0025] The present invention has significant technical effects due to the adoption of the above technical solution:

[0026] After the switch button K is pressed, a voltage difference is generated between the second resistor R2 and the third resistor R3, and the voltage difference drives the MOS tube Q1. After the MOS tube Q1 works, the circuit voltage VCC is powered on, the MCU is over-powered, and the GPIO (signal output end) of the MCU controls the anode of the second diode D2 to maintain a high level. The second diode D2, the first resistor R1, the transistor Q2, the third resistor R3, the second resistor R2, the MOS tube Q1, and the circuit voltage VCC form a loop conduction to achieve the power-on self-locking function, thereby realizing the controllable power-on process of the main system (equipment).

[0027] A switch button K is provided. After the first plug is plugged in to power on, every time the power is cut off due to a fault or the like, only the switch button K needs to be pressed to power on again, without the need to plug in or unplug the plug, which is convenient for operation.

[0028] The present application uses a physical switch (switch button K) + MOS tube Q1, which is suitable for devices with a large number of switching times. The load of the first circuit formed by the input voltage VDD, the switch button K, the first diode D1, the first resistor R1 (the resistance can be set to be smaller, for example, 1KΩ), and the transistor Q2 connected in sequence is very small. After pressing the switch button K, the first circuit is turned on, and the current in this circuit is very small, and the current size is the electrical signal level (microampere level). Therefore, no sparks will be generated at the moment of power-on or power-off, thereby avoiding damage to the device circuit board, etc.; in addition, by setting the transistor Q2, it is used to drive the large current MOS tube Q1, thereby meeting the situation where the device needs to be driven by a large current, thereby protecting the device.

[0029] The control logic is simple. The main system only needs to control the output state of one GPIO (signal output terminal) to realize the internal automatic power-off function, that is, the MCU receives the shutdown command from the device operation terminal, and the MCU controls the signal output terminal level from high to low to realize automatic power-off; the MCU of the main system detects the level state of one GPIO (signal input terminal) and controls the output state of one GPIO (signal output terminal) to realize external control power-off, that is, implement the forced shutdown mode of the switch button K. After pressing the switch button K, the device MCU detects that the level state of the signal input terminal has changed, and determines the duration of pressing the switch button K. When it reaches the preset value (such as 8 seconds), the MCU controls the signal output terminal level from high to low to realize power-off. It not only meets the need to control the power off through the main system at any time, but also can be forced to shut down through the external switch button K, which can greatly reduce the workload of program software and large hardware peripherals.

[0030] The hardware circuit has strong adaptability, and the physical switch (switch button K) can be replaced with any non-self-locking switch at will. Just touch or short-circuit the two wires to power on, and the MOS tube Q1 can be modified arbitrarily according to different power usage scenarios.

[0031] The hardware circuits are few and all are passive devices, with high reliability and not easy to damage. The circuit components are few, including only the switch button K, the first diode D1, the second diode D2, the third diode D3, the first resistor R1, the second resistor R2, the third resistor R3, the MOS tube Q1, and the triode Q2, and the circuit structure is simple. It meets the requirements of simplifying the exoskeleton hardware circuit and simplifying the software program control workload.

[0032] This application can be connected between any power supply and device without changing the original power circuit structure of the device, achieving power-on self-locking and power-off control, with strong practicality and a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a circuit diagram of the present invention.

[0034] The names of the parts indicated by the digital labels in the accompanying drawings are as follows: R1—first resistor, R2—second resistor, R3—third resistor, R4—fourth resistor, R5—fifth resistor, R6—sixth resistor, Q1—MOS tube, Q2—transistor, D1—first diode, D2—second diode, D3—third diode, K—switch button, C—capacitor, VDD—input voltage, VCC—circuit voltage, 1—GPIO of MCU (signal input end), 2—GPIO of MCU (signal output end). DETAILED DESCRIPTION

[0035] The following will describe the implementation methods of the present application in detail with the help of accompanying drawings and examples, so that the implementation process of how the present application uses technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

[0036] Example

[0037] like Figure 1 As shown, the power-on self-locking protection circuit includes a power-on self-locking circuit, an automatic power-off circuit, and a switch button power-off circuit.

[0038] The power-on self-locking circuit includes an input voltage VDD, a circuit voltage VCC, a switch button K, a first diode D1, a second diode D2, a MOS tube Q1, a transistor Q2, a first resistor R1, a second resistor R2, a third resistor R3, a sixth resistor R6, a capacitor C, and an MCU. When the input voltage VDD is turned on, it is connected to one end of the switch button K, the other end of the switch button K is connected to the anode of the first diode D1, the cathode of the first diode D1 is connected to one end of the first resistor R1, the other end of the first resistor R1 is connected to the base of the transistor Q2, and the emitter of the transistor Q2 is grounded; when the input voltage VDD is turned on, it is also connected to one end of the second resistor R2, the other end of the second resistor R2 is connected to one end of the third resistor R3, and the other end of the third resistor R3 is connected to the collector of the transistor Q2; when the input voltage VDD is turned on, it is also connected to the source of the MOS tube Q1, the gate of the MOS tube Q1 is connected to the common end of the second resistor R2 and the third resistor R3, and the drain of the MOS tube Q1 is connected to the circuit voltage VCC; the cathode of the second diode D2 is connected to the first diode D1 The cathode of the second diode D2 is connected to the common end of the first resistor R1, and the anode of the second diode D2 is connected to the GPIO (signal output end) 2 of the MCU. One end of the sixth resistor R6 is connected to the common end of the cathode of the first diode D1 and the first resistor R1, and the other end of the sixth resistor R6 is grounded. The common end of the switch button K and the anode of the first diode D1 is connected to one end of the capacitor C, and the other end of the capacitor C is grounded. The capacitor C is located between the switch button K and the ground, and is used to filter the unnecessary burrs in the input current waveform of the input voltage VDD.

[0039] A transistor Q2 is provided to drive a high-current MOS tube Q1 to meet the high-current operation of the main system (device, with MCU). The MOS tube Q1 can provide a larger through current for the main system, which can improve the stability and current overload capacity of the main system.

[0040] After the switch button K is pressed, the current flows into the first diode D1 through the switch button K, reaches the base of the transistor Q2 after passing through the first resistor R1, and flows through the emitter of the transistor Q2. At this time, the transistor Q2 is turned on; at the same time, another group of currents flows through the second resistor R2, the third resistor R3, the collector of the transistor Q2 and the emitter of the transistor Q2 in sequence, and a voltage difference is generated between the second resistor R2 and the third resistor R3 (the second resistor R2 and the third resistor R3 are set by specific resistance values ​​to ensure that the current can pass through the second resistor R2, the third resistor R3, and the transistor Q2. This loop is turned on, and a voltage difference is generated between the second resistor R2 and the third resistor R3, thereby driving Q1 to turn on). The voltage difference drives the MOS tube Q1. After the MOS tube Q1 works, it outputs a circuit voltage VCC. The circuit voltage VCC is connected to the power input interface of the MCU of the main system. When the main system is powered on, the MCU of the main system is also powered on. The GPIO (signal output terminal) 2 of the MCU controls the anode of the second diode D2 to maintain a high level, and the base of the transistor Q2 connected thereto is also at a high level. At this time, the switch button K is released, the anode of the first diode D1 becomes a low level, but the cathode of the first diode D1 is connected to the cathode of the second diode D2, both of which are at a high level. At this time, the transistor Q2 is still in the working state, and the loop formed by the second diode D2, the first resistor R1, the transistor Q2, the third resistor R3, the second resistor R2, the MOS tube Q1, and the circuit voltage VCC is turned on, achieving the power-on self-locking function, and realizing the controllable power-on process of the main system (equipment).

[0041] The automatic power-off circuit includes an MCU and a second diode D2. The MCU receives a shutdown command of the main system by wired or wireless means. Before the main system is powered on, the level state of the GPIO (signal output terminal) 2 connected to the anode of the second diode D2 on the MCU is uncontrollable, and it is unknown what the level is. If external interference occurs, it is easy to cause a high level. At this time, the main system will be powered on directly, causing unstable operation. Therefore, a fourth resistor R4 is set. One end of the fourth resistor R4 is connected to the common end of the anode of the second diode D2 and the GPIO (signal output terminal) 2 of the MUC, and the other end of the fourth resistor R4 is grounded. The anode of the second diode D2 is connected to the GPIO (signal output terminal) 2 of the MCU for signal output control.

[0042] The main system is in a power-on self-locking state. When the power is not turned off by the switch button K, that is, the switch button K is not pressed to turn off the power, the main system sends a shutdown command to the MCU, and the MCU controls the GPIO (signal output terminal) 2 connected to the anode of the second diode D2 to become a low level, and the cathode of the second diode D2 will also become a low level. At this time, the transistor Q2 is not turned on, and there is no voltage difference between the second resistor R2 and the third resistor R3. The MOS tube Q1 stops working, the main system also stops working, and the entire circuit is in a power-off state.

[0043] The switch button power-off circuit includes a switch button K, a first diode D1, a third diode D3, a fifth resistor R5, and an MCU. The anode of the third diode D3 is connected to the switch button K, and the anode of the third diode D3 is also connected to the anode of the first diode D1. One end of the fifth resistor R5 is connected to the common end of the cathode of the third diode D3 and the MCU, and the other end of the fifth resistor R5 is grounded. The cathode of the third diode D3 is also connected to the GPIO (signal input end) 1 of the MCU. The MCU can detect whether the switch button K is pressed again and power off the main system through program control. The cathode of the third diode D3 is connected to the GPIO (signal input end) 1 of the MCU for input signal detection.

[0044] The main system is in a power-on self-locking state. Before the switch button K is pressed, the cathode of the third diode D3 is in a low level state under the action of the fifth resistor R5. The setting of the fifth resistor R5 can ensure that the cathode of the third diode D3 is in a low level state, rather than an unknown level state. If the switch button K is pressed, the anode of the first diode D1 and the anode of the third diode D3 are both in a high level state, and the cathode of the third diode D3 will also become a high level state. After the MCU detects the level change of the GPIO (signal input end) 1 connected to the cathode of the third diode D3, the main system can be powered off by controlling the level change of the GPIO (signal output end) 2 connected to the anode of the second diode D2, or the MCU can control the level of the GPIO (signal output end) 2 connected to the second diode D2 to become a low level through communication with other peripheral main systems to control the main system to be powered off. In this embodiment, after the MCU detects the level change of the GPIO (signal input end) 1 connected to the cathode of the third diode D3, the main system is powered off by controlling the GPIO (signal output end) 2 connected to the anode of the second diode D2 to become a low level.

[0045] On the basis of controlling the shutdown function at the device operation end, a switch button power-off circuit is added, so that forced shutdown can be achieved by long pressing the switch button K, that is, during the power-on process, the switch button K is pressed again, and the MCU detects that the level of the signal input end has changed. The MCU determines the length of time the switch button K is pressed. When the preset length (such as 8 seconds) is reached, the GPIO (signal output end) 2 of the MCU controls the anode of the second diode D2 to change from a high level to a low level, thereby realizing power-off and shutdown of the device.

[0046] The way in which the MCU controls the level state of its CPIO (signal input / output terminal) is a prior art and will not be described in detail here. The model of the MCU is not limited and can be applied to the existing models currently on the market, such as the EPROM type 87C51.

[0047] In this embodiment, the resistance of the second resistor R2 is 9KΩ, the resistance of the third resistor R3 is 1KΩ; the capacitance of the capacitor C is in microfarad level. The first diode D1, the second diode D2, and the third diode D3 can all prevent current backflow. The fourth resistor R4, the fifth resistor R5, and the sixth resistor R6 are used to ensure that the level of one end of the diode connected thereto is low level.

[0048] A power supply connects the input voltage VDD of the above-mentioned power-on self-locking protection circuit to the busbar of the external power supply, and all grounding terminals are connected to the ground wire.

[0049] An exoskeleton robot connects the circuit voltage VCC of the power-on self-locking protection circuit to the power input interface of the MCU of the exoskeleton robot.

[0050] The above description shows and describes several preferred embodiments of the present invention, but as mentioned above, it should be understood that the present invention is not limited to the form disclosed herein, and should not be regarded as excluding other embodiments, but can be used in various other combinations, modifications and environments, and can be modified within the scope of the invention concept described herein through the above teachings or the technology or knowledge of the relevant field. Changes and variations made by those skilled in the art do not depart from the spirit and scope of the present invention, and should be within the scope of protection of the claims attached to the present invention.

Claims

1. A power-on self-locking protection circuit, comprising a power-on self-locking circuit, characterized in that: The power-on self-locking circuit includes: a first loop formed by sequentially connecting an input voltage VDD, a switch button K, a first diode D1, a first resistor R1, and a transistor Q2. In the first loop, the switch button K, the first diode D1, the first resistor R1, and the transistor Q2 are sequentially connected in series between the input voltage VDD and the ground. A second loop is formed by sequentially connecting the input voltage VDD, the second resistor R2, the third resistor R3, and the transistor Q2. In the second loop, the second resistor R2, the third resistor R3, and the transistor Q2 are sequentially connected in series between the input voltage VDD and the ground. and a MOS transistor Q1 driven by the second resistor R2 and the third resistor R3, wherein the gate and source of the MOS transistor Q1 are respectively connected to the two ends of the second resistor R2, a second diode D2, wherein the cathode of the second diode D2 is connected to the common end of the cathode of the first diode D1 and the first resistor R1, and an MCU connected to the anode of the second diode D2; After power-on, the second diode D2, the first resistor R1, the transistor Q2, the third resistor R3, the second resistor R2, and the MOS transistor Q1 form a loop and are turned on.

2. The power-on self-locking protection circuit according to claim 1, characterized in that: It also includes an automatic power-off circuit, which includes a branch formed by connecting the MCU and the anode of the second diode D2.

3. The power-on self-locking protection circuit according to claim 2, characterized in that: The automatic power-off circuit further includes a fourth resistor R4, one end of which is connected to the common end of the second diode D2 and the MUC, and the other end of which is grounded.

4. The power-on self-locking protection circuit according to claim 1, characterized in that: It also includes a switch button power-off circuit, which includes a branch formed by connecting the switch button K, the third diode D3, and the MCU in sequence, and a branch formed by connecting the first diode D1, the second diode D2, and the MCU in sequence.

5. The power-on self-locking protection circuit according to claim 4, characterized in that: The switch button power-off circuit also includes a fifth resistor R5, one end of the fifth resistor R5 is connected to the common end of the third diode D3 and the MCU, and the other end is grounded.

6. A power-on self-locking protection circuit, comprising a power-on self-locking circuit, characterized in that: The power-on self-locking circuit includes an input voltage VDD, a first diode D1, a second diode D2, a transistor Q2, a first resistor R1, a third resistor R3, an MCU, and a switch button K, a second resistor R2, and a MOS transistor Q1 all connected to the input voltage VDD. The anode of the first diode D1 is connected to the switch button K, and the cathode is connected to one end of the first resistor R1, and the other end of the first resistor R1 is connected to the base of the transistor Q2; one end of the third resistor R3 is connected to the second resistor R2, and the other end is connected to the collector of the transistor Q2, and the emitter of the transistor Q2 is grounded; the gate of the MOS transistor Q1 is connected to the common end of the second resistor R2 and the third resistor R3; the cathode of the second diode D2 is connected to the common end of the first diode D1 and the first resistor R1, and the anode of the second diode D2 is connected to the MCU.

7. The power-on self-locking protection circuit according to claim 6, characterized in that: It also includes an automatic power-off circuit, which includes a branch formed by connecting the MCU and the anode of the second diode D2 and a fourth resistor R4. One end of the fourth resistor R4 is connected to the common end of the second diode D2 and MUC, and the other end is grounded.

8. The power-on self-locking protection circuit according to claim 6, characterized in that: It also includes a switch button power-off circuit, which includes a branch formed by connecting the switch button K, the third diode D3, and the MCU in sequence, a branch formed by connecting the first diode D1, the second diode D2, and the MCU in sequence, and a fifth resistor R5. One end of the fifth resistor R5 is connected to the common end of the third diode D3 and the MCU, and the other end is grounded.

9. A power supply, characterized in that: It comprises a power-on self-locking protection circuit as described in any one of claims 1 to 8.

10. An exoskeleton robot, characterized in that: It comprises a power-on self-locking protection circuit as described in any one of claims 1 to 8.

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