Pre-charge control circuit, main board and robot

Abstract

The application relates to a pre-charging control circuit, a mainboard and a robot. The pre-charging control circuit comprises a pre-charging circuit, a power circuit, a first switch circuit, a second switch circuit, a driver and a battery; the output ends of the pre-charging circuit are connected with the driver and the second switch circuit respectively, the output end of the first switch circuit is connected with the input end of the pre-charging circuit, the voltage input end of the power circuit is connected with the battery, the output end of the power circuit is connected with the driver, and the output end of the second switch circuit is connected with the control input end of the power circuit and the input end of the first switch circuit respectively. The above method realizes the control mutual exclusion relationship between the pre-charging circuit and the power circuit through the first switch circuit and the second switch circuit, effectively avoids the problem that the device in the pre-charging circuit is damaged when the driver is powered from the pre-charging circuit, and further can avoid that the damaged device brings a major safety hazard to the processor program of the driving system, so that the reliability of the driving system is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot control, in particular to a pre-charge control circuit, a mainboard and a robot. BACKGROUND

[0002] With the development of robot control technology, accurate control of robots and safe application of robots are very important. In particular, the stability of the power supply system of the robot becomes a key technology for safe application of the robot.

[0003] At present, most robots use battery power supply, however, most robot drive systems contain a large number of capacitors. When the battery directly supplies power to the robot drive system, the capacitor is equivalent to a short circuit at the moment of power-on, which will cause the battery system to directly over-current protection. At this time, a pre-charge control loop needs to be added to the robot drive system, and the pre-charge resistor in the pre-charge control loop is used to charge the drive system. However, after the drive system is pre-charged through the pre-charge control loop, the voltage applied to the pre-charge resistor will bring a major safety hazard to the processor program, causing the drive system to be unstable. SUMMARY

[0004] Therefore, it is necessary to provide a pre-charge control circuit, a mainboard and a robot capable of improving the safety and stability of the drive.

[0005] In a first aspect, the present application provides a pre-charge control circuit. The pre-charge control circuit comprises a pre-charge loop, a power loop, a first switch circuit, a second switch circuit, a drive and a battery; the output end of the pre-charge loop is connected with the drive and the second switch circuit respectively, the output end of the first switch circuit is connected with the input end of the pre-charge loop, the voltage input end of the power loop is connected with the battery, the output end of the power loop is connected with the drive, and the output end of the second switch circuit is connected with the control input end of the power loop and the input end of the first switch circuit respectively.

[0006] The pre-charge loop is configured to obtain electrical energy from the battery to pre-charge the drive when a pre-charge signal is enabled.

[0007] The second switch circuit is configured to open the power loop after the drive is pre-charged.

[0008] The power loop is configured to obtain electrical energy from the battery to provide electrical energy for the drive after the drive is pre-charged.

[0009] The first switch circuit is configured to close the pre-charge function of the pre-charge loop when the power loop is opened.

[0010] In one of the embodiments, the pre-charge control circuit further comprises a comparator, an output terminal of the pre-charge circuit is connected with an input terminal of the comparator, and an output terminal of the comparator is connected with an input terminal of the second switch circuit.

[0011] The comparator is configured to output a first level signal to the second switch circuit when the pre-charge circuit is opened, and the second switch circuit is configured to close the power circuit when receiving the first level signal.

[0012] The comparator is further configured to output a second level signal to the second switch circuit when the pre-charge circuit is closed, and the second switch circuit is configured to open the power circuit when receiving the second level signal.

[0013] In one of the embodiments, the pre-charge circuit comprises a third switch and a pre-charge resistor, one end of the third switch is connected with the battery, the other end of the third switch is connected with one end of the pre-charge resistor and a first input terminal of the comparator respectively, the other end of the pre-charge resistor is connected with a second input terminal of the comparator and an input terminal of the driver respectively, and a control terminal of the third switch is connected with an output terminal of the first switch circuit.

[0014] The third switch is configured to connect a line between the battery and the pre-charge resistor when the third switch is opened, the voltage of the first input terminal of the comparator is higher than the voltage of the second input terminal, and the output terminal of the comparator outputs a high level signal; the third switch is configured to disconnect the line between the battery and the pre-charge resistor when the third switch is closed, the voltage of the first input terminal of the comparator is lower than the voltage of the second input terminal, and the output terminal of the comparator outputs a low level signal.

[0015] In one of the embodiments, the second switch circuit comprises a first triode and a first field effect transistor, a base of the first triode is connected with the output terminal of the comparator, a collector of the first triode is connected with a first power supply and a gate of the first field effect transistor respectively, and an emitter of the first triode is grounded; a drain of the first field effect transistor is connected with a control terminal of the power circuit, and a source of the first field effect transistor is grounded.

[0016] In one of the embodiments, the pre-charge control circuit further comprises a pre-charge signal enabling switch, the pre-charge signal enabling switch is connected with an input terminal of the first switch circuit, and the first switch circuit is configured to open the pre-charge circuit when the pre-charge signal enabling switch is closed.

[0017] In one of the embodiments, the first switch circuit comprises a second transistor and a second field effect transistor, a base of the second transistor is connected with one end of the pre-charge signal enable switch, a second power supply and a base of the first transistor respectively, the other end of the pre-charge signal enable switch is grounded, a collector of the second transistor is connected with the voltage dividing circuit, a gate of the second field effect transistor and a drain of the first field effect transistor respectively, an emitter of the second transistor is grounded; a drain of the second field effect transistor is connected with the pre-charge circuit, a source of the second field effect transistor is grounded.

[0018] In one of the embodiments, the pre-charge control circuit further comprises a power-on signal switch, the power-on signal switch is connected with an input end of the first switch circuit, the first switch circuit closes the pre-charge circuit when the power-on signal switch is closed.

[0019] In one of the embodiments, the pre-charge control circuit further comprises a first emergency stop switch, one end of the first emergency stop switch is connected with the power-on signal switch in series, the other end of the first emergency stop switch is connected with the first switch circuit, the first switch circuit closes the pre-charge circuit when the power-on signal switch is closed and the first emergency stop switch is closed.

[0020] In one of the embodiments, the pre-charge control circuit further comprises a second emergency stop switch, the second emergency stop switch is connected with an input end of the second switch circuit, the second switch circuit opens the power circuit when the second emergency stop switch is closed; and / or, the pre-charge control circuit further comprises a comparator, a voltage dividing circuit, a pre-charge signal enable switch, a power-on signal switch, a first emergency stop switch and a second emergency stop switch; the pre-charge circuit comprises a third field effect transistor and a pre-charge resistor, the first switch circuit comprises a second transistor and a second field effect transistor, the second switch circuit comprises a first transistor and a first field effect transistor;

[0021] one end of the power-on signal switch is connected with the battery, the other end of the power-on signal switch is connected with one end of the first emergency stop switch, the other end of the first emergency stop switch is connected with an input end of the voltage dividing circuit, output ends of the voltage dividing circuit are connected with a gate of the second field effect transistor, a collector of the second transistor and a drain of the first field effect transistor respectively;

[0022] a gate of the third field effect transistor is connected with a drain of the second field effect transistor, a drain of the third field effect transistor is connected with the battery, a source of the third field effect transistor is connected with one end of the pre-charge resistor and a first input end of the comparator respectively; the other end of the pre-charge resistor is connected with a second input end of the comparator and an input end of the driver respectively;

[0023] The gate of the second field effect tube is connected with the voltage dividing circuit, the collector of the second triode and the drain of the first field effect tube respectively; the source of the second field effect tube is grounded; the base of the second triode is connected with one end of the pre-charge signal enabling switch, the first power supply and the base of the first triode, the other end of the pre-charge signal enabling switch is grounded; the emitter of the second triode is grounded;

[0024] The source of the first field effect tube is grounded, the gate of the first field effect tube is connected with the collector of the first triode and the second power supply respectively; the base of the first triode is connected with the output end of the comparator; one end of the second emergency stop switch is connected with the third power supply, the other end of the second emergency stop switch is connected with the base of the first triode;

[0025] The signal input end of the power loop is connected with the battery, the output end of the power loop is connected with the driver, and the control end of the power loop is connected with the drain of the first field effect tube.

[0026] In a second aspect, the application further provides a mainboard comprising the pre-charge control circuit according to any one of the embodiments of the first aspect.

[0027] In a third aspect, the application further provides a robot comprising the pre-charge control circuit according to any one of the embodiments of the first aspect.

[0028] The pre-charge control circuit, the mainboard and the robot provided by the application can realize fast pre-charging of the driver through the pre-charge loop when the driver needs pre-charging, and can realize power supply of the driver through the battery through the power loop after the pre-charging of the driver is completed. Meanwhile, the pre-charge function of the pre-charge loop is closed through the first switch circuit when the power loop is opened, thereby realizing the control exclusion relationship between the pre-charge loop and the power loop, i.e., the power loop is closed when the pre-charge loop supplies power to the driver, and the power loop is opened when the pre-charge loop completes the pre-charging of the driver. Thus, the problem of damage of devices in the pre-charge loop caused by power supply from the pre-charge loop when the driver works (after the pre-charging is completed) is avoided, thereby avoiding the safety hazard caused by damage of devices to the processor program of the driving system, and improving the reliability of the driving system. In addition, the pre-charge control circuit automatically closes the pre-charge loop after the pre-charging of the driver is completed, which is realized by hardware instead of complicated software and hardware combination, thereby greatly saving the circuit cost. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 FIG. 1 is a structural schematic diagram of the pre-charge control circuit according to an embodiment of the application;

[0030] Figure 2Structure schematic diagram of the pre-charge control circuit in Example 2;

[0031] Figure 3 Structure schematic diagram of the pre-charge control circuit in Example 3;

[0032] Figure 4 Structure schematic diagram of the pre-charge control circuit in Example 4;

[0033] Figure 5 Structure schematic diagram of the pre-charge control circuit in Example 5;

[0034] Figure 6 Structure schematic diagram of the pre-charge control circuit in Example 6;

[0035] Figure 7 Structure schematic diagram of the pre-charge control circuit in Example 7;

[0036] Figure 8 Structure schematic diagram of the pre-charge control circuit in Example 8. DETAILED DESCRIPTION

[0037] In order to make the above objectives, features and advantages of the present application more apparent, specific embodiments of the present application will be described in detail below with the accompanying drawings. In the following description, a large number of specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be implemented in many different ways other than those described herein, and those skilled in the art can make similar improvements without departing from the spirit of the present application, so the present application is not limited to the specific embodiments disclosed below.

[0038] The technical solutions of the present application and how the technical solutions solve the technical problems will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of the present application will be described below with reference to the accompanying drawings.

[0039] In this paper, the serial numbers of components, such as "first", "second", etc., are only used to distinguish the described objects, and have no technical meaning. In this paper, "connection" and "coupling" include direct and indirect connection (coupling) unless otherwise specified. In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation of the present application.

[0040] In the present application, unless specifically stated and limited otherwise, a first feature is "on" or "under" a second feature can mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature can be "over", "above" and "on top of" the second feature can mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in horizontal height than the second feature. The first feature can be "under", "below" and "underneath" the second feature can mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in horizontal height than the second feature.

[0041] In embodiment one, as shown in Figure 1 A pre-charge control circuit is provided, which comprises: a pre-charge circuit, a power circuit, a first switch circuit, a second switch circuit, a driver and a battery; the output terminals of the pre-charge circuit are connected with the driver and the second switch circuit respectively, the output terminal of the first switch circuit is connected with the input terminal of the pre-charge circuit, the voltage input terminal of the power circuit is connected with the battery, the output terminal of the power circuit is connected with the driver, and the output terminal of the second switch circuit is connected with the control input terminal of the power circuit and the input terminal of the first switch circuit respectively.

[0042] The pre-charge circuit is used to obtain electric energy from the battery to pre-charge the driver when a pre-charge signal is received; the second switch circuit is used to open the power circuit after the driver is pre-charged; the power circuit is used to obtain electric energy from the battery to provide electric energy for the driver after the driver is pre-charged; and the first switch circuit is used to close the pre-charge function of the pre-charge circuit when the power circuit is opened. In actual application, the power circuit can be realized by a contactor.

[0043] The driver can be a driver on a robot, which is used to drive the robot to move or perform corresponding operations. At the initial power-on of the robot, the pre-charge circuit in the robot pre-charges the driver to avoid the over-current protection caused by directly powering the driver with the battery, which can cause disorder of the power supply system of the robot.

[0044] The pre-charge signal can be a signal automatically triggered in the self-checking process of the power-on of the robot, or a signal triggered by an externally independent button, which indicates that the driver in the robot is pre-charged. The first switch circuit is used to open or close the pre-charge circuit; the second switch circuit is used to open or close the power circuit, and the second switch circuit is also used to control the first switch circuit to open or close the pre-charge circuit.

[0045] The pre-charge circuit is opened to obtain power from the battery to provide pre-charge power for the driver, and the pre-charge circuit is closed to stop providing pre-charge power for the driver. The power circuit is opened to obtain power from the battery to provide power required for normal operation of the driver, and the power circuit is closed to stop providing power for the driver. There is an exclusive logic between the pre-charge circuit and the power circuit, that is, when the pre-charge circuit is opened, the corresponding power circuit is closed; when the pre-charge circuit is closed, the corresponding power circuit is opened.

[0046] In practical applications, Figure 1 The pre-charge control circuit can detect whether the pre-charge signal is enabled or triggered. When it is detected that the pre-charge signal is enabled or triggered, it indicates that the pre-charge control circuit needs to provide pre-charge power for the driver. At this time, the first switch circuit is controlled to open the pre-charge circuit to enable the pre-charge circuit to obtain power from the battery to provide pre-charge power for the driver when the pre-charge signal is enabled. When the pre-charge of the driver is completed, the pre-charge circuit can control the second switch circuit to open the power circuit to connect the line between the battery and the driver, that is, to obtain power from the battery to provide power for the driver. Correspondingly, the second switch circuit controls the first switch circuit to close the pre-charge circuit to automatically close the pre-charge circuit to stop providing pre-charge power for the driver after the pre-charge of the driver is completed. It should be noted that the pre-charge signal can enable or trigger the corresponding switch or controller. Optionally, the first switch circuit can be connected with the switch or the controller. When the switch is closed (that is, enabled or triggered) or the controller outputs an enable or trigger signal, the first switch circuit connected with the switch or the controller opens the pre-charge circuit, that is, the pre-charge signal is enabled or triggered to control the first switch circuit to open the pre-charge circuit.

[0047] The pre-charge control circuit provided in the above embodiment can open the pre-charge circuit through the first switch circuit when the driver needs pre-charge to realize fast pre-charge for the driver through the pre-charge circuit. After the pre-charge of the driver is completed, the power circuit is opened through the second switch circuit to realize that power is provided for the driver through the battery. At the same time, the pre-charge function of the pre-charge circuit is closed through the first switch circuit, thereby realizing the control exclusive relationship between the pre-charge circuit and the power circuit, that is, when the pre-charge circuit provides power for the driver, the power circuit is closed, and when the pre-charge of the driver is completed, the power circuit is opened. This effectively avoids the problem that the device in the pre-charge circuit is damaged when the driver works (after the pre-charge is completed) and is powered by the pre-charge circuit, thereby avoiding that the damaged device brings a major security risk to the processor program of the driving system, thereby improving the reliability of the driving system. In addition, the pre-charge control circuit automatically closes the pre-charge circuit after the pre-charge of the driver is completed, which is realized from the hardware, and does not need to be realized by using complex software and hardware combination, thereby greatly saving the circuit cost.

[0048] In the second embodiment, as Figure 2As shown, a pre-charge control circuit is provided, which is connected to a power supply circuit and a power loop, and is configured to control the power loop to be opened or closed. Figure 1 The pre-charge control circuit shown above further comprises a comparator, an output terminal of the pre-charge loop is connected to an input terminal of the comparator, and an output terminal of the comparator is connected to an input terminal of the second switch circuit; the comparator is configured to output a first level signal to the second switch circuit when the pre-charge loop is opened, so that the second switch circuit closes the power loop when receiving the first level signal; and the comparator is configured to output a second level signal when the pre-charge loop is closed, so that the second switch circuit opens the power loop when receiving the second level signal.

[0049] The first level signal can be a high level signal or a low level signal, and the second level signal can be a high level signal or a low level signal; the first level signal is different from the second level signal, for example, the first level signal is a high level signal, and the corresponding second level signal is a low level signal; or the first level signal is a low level signal, and the corresponding second level signal is a high level signal.

[0050] In practical applications, Figure 2 The pre-charge control circuit shown above can detect whether the pre-charge signal is enabled or triggered. When it is detected that the pre-charge signal is enabled or triggered, it indicates that the pre-charge control circuit needs to pre-charge the driver with power. At this time, the first switch circuit is controlled to open the pre-charge loop, so that the pre-charge loop obtains power from the battery to pre-charge the driver with power. At this time, the pre-charge loop outputs a signal to the comparator, which can make the comparator output the first level signal, and the second switch circuit closes the power loop when receiving the first level signal. When the driver completes the pre-charge, the pre-charge loop outputs a signal to the comparator, which can make the comparator output the second level signal, and the second switch circuit opens the power loop when receiving the second level signal, so that the power loop connects the line between the battery and the driver, i.e. obtains power from the battery to provide power for the driver. Correspondingly, the second switch circuit controls the first switch circuit to close the pre-charge loop, so that the pre-charge loop is automatically closed after the driver completes the pre-charge to stop pre-charging the driver with power. The pre-charge control circuit described in the above embodiment uses only one comparator to automatically close the pre-charge loop on hardware after the driver completes the pre-charge, which greatly saves the cost of device compared with the circuit that uses complex logic devices and software to automatically close the pre-charge loop, and can accurately control the closing of the pre-charge loop.

[0051] The pre-charge control circuit shown above further comprises a comparator, an output terminal of the pre-charge loop is connected to an input terminal of the comparator, and an output terminal of the comparator is connected to an input terminal of the second switch circuit; the comparator is configured to output a first level signal to the second switch circuit when the pre-charge loop is opened, so that the second switch circuit closes the power loop when receiving the first level signal; and the comparator is configured to output a second level signal when the pre-charge loop is closed, so that the second switch circuit opens the power loop when receiving the second level signal. Figure 2The two input terminals of the comparator and the two output terminals of the corresponding pre-charge circuit are not shown). If the above-mentioned first-level signal is a high-level signal, the voltage output by the pre-charge circuit to the first input terminal of the comparator is higher than the voltage output to the second input terminal of the comparator, and the comparator can output a high-level signal at this time; if the above-mentioned second-level signal is a low-level signal, the voltage output by the pre-charge circuit to the first input terminal of the comparator is lower than the voltage output to the second input terminal of the comparator, and the comparator can output a low-level signal at this time. Conversely, if the above-mentioned first-level signal is a low-level signal, the voltage output by the pre-charge circuit to the first input terminal of the comparator is lower than the voltage output to the second input terminal of the comparator, and the comparator can output a low-level signal at this time; if the above-mentioned second-level signal is a high-level signal, the voltage output by the pre-charge circuit to the first input terminal of the comparator is higher than the voltage output to the second input terminal of the comparator, and the comparator can output a high-level signal.

[0052] In the third embodiment, Figure 3 As shown, a pre-charge control circuit is provided, in which the pre-charge loop includes a third switch and a pre-charge resistor, one end of the third switch is connected to the battery, the other end of the third switch is respectively connected to one end of the pre-charge resistor and the first input end of the comparator, and the other end of the pre-charge resistor is respectively connected to the second input end of the comparator and the input end of the driver; the control end of the third switch is connected to the output end of the first switch circuit.

[0053] When the third switch is turned on, the line between the battery and the pre-charging resistor is connected, the voltage at the first input terminal of the comparator is higher than the voltage at the second input terminal, and the output terminal of the comparator outputs a high-level signal; when the third switch is turned off, the line between the battery and the pre-charging resistor is disconnected, the voltage at the first input terminal of the comparator is lower than the voltage at the second input terminal, and the output terminal of the comparator outputs a low-level signal.

[0054] Optional, based on Figure 3 The pre-charge control circuit is configured such that when the third switch is turned on, the circuit between the battery and the pre-charge resistor is connected, the voltage at the first input terminal of the comparator is lower than the voltage at the second input terminal, and the output terminal of the comparator outputs a low-level signal; when the third switch is turned off, the circuit between the battery and the pre-charge resistor is disconnected, the voltage at the first input terminal of the comparator is higher than the voltage at the second input terminal, and the output terminal of the comparator outputs a high-level signal.

[0055] The first switch circuit is used to open or close the third switch. The third switch can be implemented using a field-effect transistor. Specifically, the gate of the field-effect transistor is connected to the output terminal of the first switch circuit, the drain of the field-effect transistor is connected to the battery, and the source of the field-effect transistor is respectively connected to the pre-charge resistor and the first input terminal of the comparator.

[0056] The second switch circuit includes a first transistor and a first field effect transistor. The base of the first transistor is connected to the output of the comparator. The collector of the first transistor is connected to a first power supply and the gate of the first field effect transistor. The emitter of the first transistor is grounded. The drain of the first field effect transistor is connected to the control end of the power loop. The source of the first field effect transistor is grounded. When the comparator outputs a high level signal, the first transistor is turned on, and the first field effect transistor is in a cut-off state. If the power loop is a contactor, the first field effect transistor controls the contactor to be disconnected, so that the circuit between the battery and the driver is disconnected. The first power supply can be a 48V power supply.

[0057] In practical applications, Figure 3 The pre-charge control circuit can detect whether the pre-charge signal is enabled or triggered. When it is detected that the pre-charge signal is enabled or triggered, it indicates that the pre-charge control circuit needs to pre-charge the driver with power. At this time, the first switch circuit is controlled to open the third switch, so that the circuit between the battery and the pre-charge resistor is connected, and the driver is pre-charged with power. At this time, a voltage is applied to the pre-charge resistor between the first input end and the second input end of the comparator. The voltage at the first input end of the comparator is higher than that at the second input end. The comparator outputs a high level signal. When the second switch circuit receives the high level signal, the power loop is closed. When the driver is pre-charged, no voltage is applied to the pre-charge resistor between the first input end and the second input end of the comparator. The voltage at the first input end of the comparator is lower than that at the second input end. At this time, the comparator outputs a low level signal. When the second switch circuit receives the low level signal, the power loop is opened, so that the circuit between the battery and the driver is connected, that is, the power is obtained from the battery to provide power for the driver. Correspondingly, the second switch circuit controls the first switch circuit to close the third switch to disconnect the circuit between the battery and the pre-charge resistor, so that the pre-charge circuit is automatically closed after the driver is pre-charged to stop pre-charging the driver with power.

[0058] In the fourth embodiment, as shown in Figure 4 The pre-charge control circuit further includes a pre-charge signal enable switch. The pre-charge signal enable switch is connected to the input end of the first switch circuit. The first switch circuit opens the pre-charge circuit when the pre-charge signal enable switch is closed.

[0059] The pre-charge signal enable switch can control the first switch circuit to open or close the pre-charge circuit. The pre-charge signal enable switch can be a mechanical button or a software button. When the pre-charge signal enable switch is a software button, it can be automatically closed during the self-checking process before the robot is powered on, so that the robot is pre-charged during the self-checking process. When the pre-charge signal enable switch is a mechanical button, it can be triggered and closed by manual pressing. The pre-charge signal enable switch is generally automatically triggered (closed) during the self-checking process before the robot or the driver is powered on.

[0060] The first switch circuit includes a second transistor and a second field effect transistor. The base of the second transistor is connected to one end of a pre-charge signal enable switch, a second power supply and the base of the first transistor, respectively. The other end of the pre-charge signal enable switch is grounded. The collector of the second transistor is connected to a voltage dividing circuit, the gate of the second field effect transistor and the drain of the first field effect transistor, respectively. The emitter of the second transistor is grounded. The drain of the second field effect transistor is connected to a pre-charge loop. The source of the second field effect transistor is grounded. The second power supply can be a 3.3V power supply.

[0061] Correspondingly, when the pre-charge signal enable switch is closed, the second transistor is turned on. When the pre-charge signal enable switch is opened, the second transistor is turned off. When the second transistor is turned on, a low-level signal is input to the gate of the second field effect transistor, so that the drain of the second field effect transistor can close the pre-charge loop. When the second transistor is turned off, a high-level signal is input to the gate of the second field effect transistor, so that the drain of the second field effect transistor can open the pre-charge loop.

[0062] In practical applications, Figure 4 The pre-charge control circuit shown in the figure can detect that the pre-charge signal is enabled or triggered when the pre-charge signal enable switch is closed. That is, when the pre-charge signal enable switch is closed, it means that the pre-charge control circuit needs to pre-charge the driver with power. At this time, the first switch circuit is controlled to open the pre-charge loop, so that the pre-charge loop can obtain power from the battery to pre-charge the driver with power when the pre-charge signal is enabled. After the driver is pre-charged, the pre-charge loop can control the second switch circuit to open the power loop, so that the power loop connects the line between the battery and the driver, that is, obtains power from the battery to provide power for the driver. Correspondingly, the second switch circuit controls the first switch circuit to close the pre-charge loop, so that the pre-charge loop is automatically closed after the driver is pre-charged to stop pre-charging the driver with power.

[0063] In the fifth embodiment, as Figure 5 shown, a pre-charge control circuit is provided. The pre-charge control circuit further includes a power-on signal switch. The power-on signal switch is connected to the input end of the first switch circuit. The first switch circuit closes the pre-charge loop when the power-on signal switch is closed.

[0064] The power-on signal switch can control the first switch circuit to open or close the pre-charging loop. The power-on signal switch can be a mechanical button or a software button. When the power-on signal switch is a software button, it can be automatically closed during the power-on process of the robot, so that the robot does not pre-charge during the power-on process. When the power-on signal switch is a mechanical button, it is triggered to close by manual pressing. The power-on signal switch is generally automatically triggered or manually triggered (closed) during the power-on process of the robot or the driver, and the robot is kept in a stationary state during the process. Therefore, the driver is not pre-charged during the power-on process, so as to avoid moving the robot before it is completely powered on, which causes disorder of the robot program or damage to the device.

[0065] In practical applications, Figure 5 The pre-charge control circuit shown in the figure can detect that the power-on signal is enabled or triggered when the power-on signal switch is closed. That is, when the power-on signal switch is closed, it indicates that the driver needs to be in an idle state, such as a robot using the driver being in a stationary state. At this time, the first switch circuit is controlled to close the pre-charge loop, so that the pre-charge loop does not pre-charge the driver when the power-on signal switch is closed.

[0066] In embodiment six, as Figure 6 shown, a pre-charge control circuit is provided, which further comprises a first emergency stop switch, one end of the first emergency stop switch being connected in series with the power-on signal switch, and the other end of the first emergency stop switch being connected with the first switch circuit. The first switch circuit closes the pre-charge loop when the power-on signal switch is closed and the first emergency stop switch is closed.

[0067] The first emergency stop switch and the power-on signal switch jointly control the first switch circuit to open or close the pre-charge loop. The first emergency stop switch can be a mechanical button or a software button. Generally, in order to ensure the safe use of the robot or the driver, the first emergency stop switch can be triggered externally, and at the same time, when the power-on signal switch is closed and the first emergency stop switch is closed, it indicates that the robot needs to be in a stationary state. This process does not pre-charge, so as to avoid the pre-charge loop supplying power to the driver or the robot when the robot needs to be in a stationary state, which causes disorder of the robot program or damage to the device.

[0068] In embodiment seven, as Figure 7 shown, a pre-charge control circuit is provided, which further comprises a second emergency stop switch, the second emergency stop switch being connected with an input end of a second switch circuit, and the second switch circuit opening the power loop when the second emergency stop switch is closed.

[0069] The second emergency stop switch can control the second switch circuit to open or close the power circuit. The second emergency stop switch can be a mechanical button or a software button. The second emergency stop switch can be triggered by an external button. When the second emergency stop switch is closed, the second switch circuit can close the power circuit, disconnecting the line between the battery and the driver, thereby stopping the driver from supplying the power required for normal operation, thereby achieving the purpose of emergency stop of the robot or driver.

[0070] In practical applications, Figure 7 The pre-charge control circuit shown can indicate that the robot or driver where the driver is located needs to stop working or the robot or driver where the driver is located needs to be in a static state when the second emergency stop switch is turned off. Therefore, the pre-charge control circuit at this time does not need to pre-charge energy to the driver, or the power circuit at this time does not need to provide power to the driver. At this time, the second switch circuit is controlled to close the power circuit, so that the power circuit can cut off the battery to provide power to the driver when the second emergency stop switch is turned off.

[0071] In Example 8, Figure 8 As shown, a pre-charge control circuit is provided. Figure 1 The precharge control circuit shown is based on or Figure 7 On the basis of the pre-charge control circuit shown, it also includes a comparator, a voltage divider circuit, a pre-charge signal enable switch, a power-on signal switch, a first emergency stop switch and a second emergency stop switch; the pre-charge circuit includes a third field-effect transistor and a pre-charge resistor, the first switch circuit includes a second transistor and a second field-effect transistor, and the second switch circuit includes a first transistor and a first field-effect transistor.

[0072] One end of the power-on signal switch is connected to the battery, the other end of the power-on signal switch is connected to one end of the first emergency stop switch, the other end of the first emergency stop switch is connected to the input end of the voltage divider circuit, and the output end of the voltage divider circuit is respectively connected to the gate of the second field effect transistor, the collector of the second triode and the drain of the first field effect transistor.

[0073] The gate of the third field effect transistor is connected to the drain of the second field effect transistor, the drain of the third field effect transistor is connected to the battery, the source of the third field effect transistor is respectively connected to one end of the pre-charging resistor and the first input end of the comparator; the other end of the pre-charging resistor is respectively connected to the second input end of the comparator and the input end of the driver.

[0074] The gate of the second field effect transistor is respectively connected to the voltage divider circuit, the collector of the second transistor, and the drain of the first field effect transistor; the source of the second field effect transistor is grounded; the base of the second transistor is respectively connected to one end of the pre-charge signal enable switch, the first power supply and the base of the first transistor, and the other end of the pre-charge signal enable switch is grounded; the emitter of the second transistor is grounded.

[0075] The source of the first field effect tube is grounded, and the gate of the first field effect tube is connected to the collector of the first triode and the second power supply, respectively; and the base of the first triode is connected to the output of the comparator.

[0076] The signal input end of the power loop is connected to the battery, the output end of the power loop is connected to the driver, and the control end of the power loop is connected to the drain of the first field effect tube.

[0077] Wherein, S3 is the power-on signal switch, S1 is the first emergency stop switch, S2 is the pre-charge signal enable switch, S4 is the second emergency stop switch; Q1 is the third field effect tube, Q2 is the second field effect tube, Q3 is the second triode, Q5 is the first field effect tube, Q6 is the first triode; the third power supply is a 3.3V power supply, R1 is a pre-charge resistor, K2 is a power loop, the power loop K2 includes a contactor, when the contactor is opened, the power loop K2 is closed, that is, the line between the battery and the driver in the power loop K2 is connected; when the contactor is not opened, the power loop K2 is disconnected, that is, the line between the battery and the driver in the power loop K2 is disconnected. U1 is a comparator, the first pin (1 pin) of the comparator U1 is the first input end, the second pin (2 pin) of the comparator U1 is the second input end, the fourth pin (4 pin) of the comparator U1 is the output end, the fifth pin (5 pin) of the comparator U1 is connected to the 3.3V power supply, and the third pin (3 pin) of the comparator U1 is grounded. The driver is composed of a resistor RG, a capacitor C1, an LED1, and a resistor R11. The resistors R21 and R22 form a voltage dividing circuit. The pre-charge circuit is a circuit composed of the third field effect tube Q1 and the pre-charge resistor R1.

[0078] In practical application, Figure 8 The pre-charge control circuit shown is applied in the pre-charge process of a robot. When the power-on signal on the robot is triggered (the power-on signal switch S3 is closed), and the first emergency stop signal on the robot (the first emergency stop signal switch S1 is closed) is triggered, it indicates that the robot is in the power-on process or the robot is in the emergency stop state, and the robot must remain in a stationary state. The power-on signal switch S3 on the circuit board is closed (triggered by an external button) and the first emergency stop switch S1 is closed, the second triode Q3 is turned on, the gate of the second field effect tube Q2 is at a low level, the third field effect tube Q1 in the pre-charge circuit is in a cut-off state, and the pre-charge circuit is not turned on; the comparator U1 does not detect the input voltage signal, the comparator U1 outputs a high-level signal, the first triode Q6 is turned on, the first field effect tube Q5 in the contactor of the power loop K is in a cut-off state, and the contactor is not opened.

[0079] When the pre-charge signal enables the switch S2 to close (the microprocessor gives the pre-charge signal), that is, the robot performs the pre-charge process of the self-checking process, at this time, the first triode Q3 is cut off, the gate of the second field effect tube Q2 receives a voltage signal from the voltage divider circuit composed of the resistor R21 and the resistor R22, the third field effect tube Q1 in the pre-charge circuit is in a saturated state, and the pre-charge circuit is turned on; at this time, the voltage at the 1 pin of the comparator U1 is higher than that at the 2 pin, the 4 pin of the comparator U1 outputs a high-level signal, the first triode Q6 is turned on, the first field effect tube Q5 of the contactor is in a cut-off state, and the contactor is not opened.

[0080] When the pre-charge of the driver is completed, the voltage at the 1 pin of the comparator U1 is lower than that at the 2 pin, the 4 pin of the comparator U1 outputs a low-level signal, the first triode Q6 is cut off, the first field effect tube Q5 of the contactor is in a saturated state, the contactor is opened, the drain of the first field effect tube Q5 is at a low level, the gate of the second field effect tube Q2 is pulled to a low level, the third field effect tube Q1 in the pre-charge circuit is cut off, and the pre-charge circuit is turned off.

[0081] When the second emergency stop switch S4 is closed (triggered by an external button), that is, the robot is manually stopped, the robot is powered off, at this time, the first triode Q6 is turned on, the first field effect tube Q5 of the contactor is in a cut-off state, the contactor is closed, the power supply of the driver is cut off, the driver stops working, and then the robot stops moving or performing corresponding operations.

[0082] The pre-charge control circuit in the above embodiment effectively realizes the mutual exclusion relationship between the pre-charge circuit and the power circuit control, effectively avoids the problem that the pre-charge resistor is damaged due to the power supply from the pre-charge circuit when the driver is working, timely protects the robot, and improves the stability and reliability of the robot application. In addition, the pre-charge control circuit only needs to be given a pre-charge signal by a microprocessor or through other means, without the need to process the conversion relationship of analog and digital signals and logical comparison, thereby saving the operation resources of the MCU.

[0083] In combination with all the above embodiments, the application further provides a mainboard, which comprises the pre-charge control circuit in any of the above embodiments. Figures 1 to 8 The pre-charge control circuit in any of the above embodiments can be applied to any existing robot or device, so that the pre-charge control circuit on the mainboard can initially give the robot or device a normal pre-charge current when the robot or device is powered on, and automatically turn off the pre-charge circuit when the robot or device starts to work normally, thereby avoiding the problem that the robot or device program runs out of control and the system crashes due to the damage of the devices in the pre-charge control circuit.

[0084] In combination with all the above embodiments, the application further provides a robot, which comprises the pre-charge control circuit in any of the above embodiments. Figures 1 to 8The pre-charge control circuit or the mainboard according to any of the embodiments can realize the initial pre-charge of the pre-charge circuit in the pre-charge control circuit to normally pre-charge the robot when the robot is powered on, and automatically turn off the pre-charge circuit when the robot starts to work normally, so as to avoid the damage of the devices in the pre-charge control circuit, the runaway of the robot program, the system crash and other problems.

[0085] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer readable storage medium. When the computer program is executed, the processes of the above-mentioned embodiments can be included. Any reference to memory, database or other medium in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. The non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric memory (FRAM), phase change memory (PCM), graphene memory, etc. The volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration but not limitation, the RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided in the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., and is not limited thereto. The processor involved in the embodiments provided in the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., and is not limited thereto.

[0086] The technical features of the above embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described, but as long as the combinations of the technical features do not exist, they should be considered as the scope of the present application.

[0087] The above-described embodiments are merely illustrative of several embodiments of the present application, which are described in more detail and in a specific manner, but should not be construed as limiting the scope of the patent of the present application. It should be noted that, for those of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the appended claims.

Claims

1. A precharge control circuit, characterized in that: The pre-charge control circuit includes: a pre-charge circuit, a power circuit, a first switch circuit, a second switch circuit, a driver, a battery, a first emergency stop switch, and a second emergency stop switch; the output end of the pre-charge circuit is respectively connected to the driver and the second switch circuit, the output end of the first switch circuit is connected to the input end of the pre-charge circuit, the voltage input end of the power circuit is connected to the battery, the output end of the power circuit is connected to the driver, and the output end of the second switch circuit is respectively connected to the control input end of the power circuit and the input end of the first switch circuit; The pre-charging circuit is used to obtain electric energy from the battery to pre-charge the driver when receiving the pre-charging signal; The second switch circuit is used to open the power loop after the driver completes pre-charging; the second switch circuit includes a first transistor and a first field effect transistor; The power circuit is used to obtain electric energy from the battery to provide electric energy to the driver after the driver completes pre-charging; The first switch circuit is used to turn off the pre-charge function of the pre-charge circuit when the power circuit is turned on; the first switch circuit includes a second transistor and a second field effect transistor; The first emergency stop switch is connected to the first switch circuit and is used to emergency shut down the pre-charge circuit; The second emergency stop switch is connected to the second switch circuit and is used to emergency disconnect the power circuit.

2. The precharge control circuit according to claim 1, characterized in that: The pre-charge control circuit further includes a comparator, the output end of the pre-charge loop is connected to the input end of the comparator, and the output end of the comparator is connected to the input end of the second switch circuit; The comparator is configured to output a first level signal to the second switch circuit when the pre-charge circuit is open, so that the second switch circuit closes the power circuit when receiving the first level signal; The comparator is further configured to output a second level signal to the second switch circuit when the pre-charge circuit is closed, so that the second switch circuit opens the power circuit when receiving the second level signal.

3. The precharge control circuit according to claim 2, characterized in that: The pre-charge circuit includes a third switch and a pre-charge resistor, one end of the third switch is connected to the battery, the other end of the third switch is respectively connected to one end of the pre-charge resistor and the first input end of the comparator, and the other end of the pre-charge resistor is respectively connected to the second input end of the comparator and the input end of the driver; the control end of the third switch is connected to the output end of the first switch circuit; When the third switch is turned on, the circuit between the battery and the pre-charging resistor is connected, the voltage at the first input terminal of the comparator is higher than the voltage at the second input terminal, and the output terminal of the comparator outputs a high-level signal; When the third switch is closed, the circuit between the battery and the pre-charging resistor is disconnected, the voltage at the first input terminal of the comparator is lower than the voltage at the second input terminal, and the output terminal of the comparator outputs a low-level signal.

4. The precharge control circuit according to claim 3, characterized in that: The base of the first transistor is connected to the output end of the comparator, the collector of the first transistor is respectively connected to the first power supply and the gate of the first field-effect transistor, and the emitter of the first transistor is grounded; the drain of the first field-effect transistor is connected to the control end of the power circuit, and the source of the first field-effect transistor is grounded.

5. The precharge control circuit according to claim 1, characterized in that: The pre-charge control circuit further includes a pre-charge signal enable switch, which is connected to the input end of the first switch circuit. The first switch circuit opens the pre-charge loop when the pre-charge signal enable switch is closed.

6. The precharge control circuit according to claim 5, characterized in that: The base of the second transistor is respectively connected to one end of the pre-charge signal enable switch, the second power supply and the base of the first transistor, the other end of the pre-charge signal enable switch is grounded, the collector of the second transistor is respectively connected to the voltage divider circuit, the gate of the second field effect transistor and the drain of the first field effect transistor, and the emitter of the second transistor is grounded; the drain of the second field effect transistor is connected to the pre-charge loop, and the source of the second field effect transistor is grounded.

7. The precharge control circuit according to claim 1, characterized in that: The pre-charge control circuit further includes a power-on signal switch connected to an input end of the first switch circuit. The first switch circuit closes the pre-charge loop when the power-on signal switch is closed.

8. The precharge control circuit according to claim 7, characterized in that: One end of the first emergency stop switch is connected in series with the power-on signal switch, and the other end of the first emergency stop switch is connected to the first switch circuit. The first switch circuit closes the pre-charge circuit when the power-on signal switch and the first emergency stop switch are closed.

9. The precharge control circuit according to claim 1, characterized in that: The second emergency stop switch is connected to the input end of the second switch circuit, and the second switch circuit opens the power circuit when the second emergency stop switch is closed; and / or, The pre-charge control circuit further includes a comparator, a voltage divider circuit, a pre-charge signal enable switch, a power-on signal switch, a first emergency stop switch and a second emergency stop switch; the pre-charge loop includes a third field effect transistor and a pre-charge resistor, the first switch circuit includes a second transistor and a second field effect transistor, and the second switch circuit includes a first transistor and a first field effect transistor; One end of the power-on signal switch is connected to the battery, the other end of the power signal switch is connected to one end of the first emergency stop switch, the other end of the first emergency stop switch is connected to the input end of the voltage divider circuit, and the output end of the voltage divider circuit is respectively connected to the gate of the second field effect transistor, the collector of the second transistor, and the drain of the first field effect transistor; The gate of the third field effect transistor is connected to the drain of the second field effect transistor, the drain of the third field effect transistor is connected to the battery, the source of the third field effect transistor is respectively connected to one end of the pre-charging resistor and the first input end of the comparator; the other end of the pre-charging resistor is respectively connected to the second input end of the comparator and the input end of the driver; The gate of the second field effect transistor is respectively connected to the voltage divider circuit, the collector of the second transistor, and the drain of the first field effect transistor; the source of the second field effect transistor is grounded; the base of the second transistor is respectively connected to one end of the pre-charge signal enable switch, the first power supply, and the base of the first transistor, and the other end of the pre-charge signal enable switch is grounded; the emitter of the second transistor is grounded; The source of the first field effect transistor is grounded, and the gate of the first field effect transistor is connected to the collector of the first transistor and the second power supply respectively; the base of the first transistor is connected to the output end of the comparator; one end of the second emergency stop switch is connected to the third power supply, and the other end of the second emergency stop switch is connected to the base of the first transistor; The signal input end of the power circuit is connected to the battery, the output end of the power circuit is connected to the driver, and the control end of the power circuit is connected to the drain of the first field effect transistor.

10. A motherboard, characterized in that: The main board includes the pre-charge control circuit described in any one of claims 1-9.

11. A robot, characterized in that: The robot comprises the pre-charge control circuit according to any one of claims 1 to 9.

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