Power supply circuit and robot

Abstract

A power supply circuit and a robot belong to the technical field of power supply. The first switch circuit is connected to the first voltage, and the first switch circuit is turned on according to the mechanical arm switch signal to output the first voltage. The second switch circuit is connected to the direct current, and the second switch circuit is turned on according to the first voltage to output the direct current to supply power to the mechanical arm circuit. The first conversion circuit converts the first voltage into the second voltage to supply power to the gripper camera circuit. The mechanical arm switch signal can control the output of the first voltage, the first voltage can control the output of the supply voltage of the mechanical arm circuit, and the supply voltage of the gripper camera circuit is converted from the first voltage. Therefore, the mechanical arm switch signal can control the supply voltage of the mechanical arm circuit and the supply voltage of the gripper camera circuit. The gripper camera circuit and the mechanical arm circuit are started and stopped synchronously, the gripper camera circuit is not disturbed by the magnetic field generated by the power line of the mechanical arm circuit, and the frequent restart of the ground caused by the frequent shutdown of the gripper camera is avoided.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of power supply, and particularly relates to a power supply circuit and a robot. BACKGROUND

[0002] In a robot, a mechanical arm is a inductive load, and has large on-current and high control difficulty. Therefore, sufficient safety measures need to be taken on the start-stop control of the mechanical arm. In application, a gripper and a gripper camera are usually assembled at the end of the mechanical arm, so that some precise grabbing operations can be achieved. However, in the system, different modules have different power supply modes, and some electromagnetic interference may exist between the wire harnesses. The interference on the USB data signal of the gripper camera is particularly serious when the power supply is started and stopped, so that the gripper camera is prone to crash and needs to be restarted repeatedly. SUMMARY

[0003] The application aims to provide a power supply circuit and a robot, and aims to solve the problem that related power supply circuits cannot eliminate the interference on the USB data signal of the gripper camera, so that the gripper camera is prone to crash and needs to be restarted repeatedly.

[0004] The application embodiment provides a power supply circuit, which comprises:

[0005] A first switch circuit configured to access a first voltage and conduct according to a mechanical arm switch signal to output the first voltage;

[0006] A second switch circuit connected with the first switch circuit and configured to access a direct current and conduct according to the first voltage to output the direct current to supply power to a mechanical arm circuit;

[0007] A first conversion circuit connected with the first switch circuit and configured to convert the first voltage into a second voltage to supply power to a gripper camera circuit.

[0008] In one of the embodiments, the power supply circuit further comprises:

[0009] A control circuit connected with the first switch circuit and configured to output a USB data signal and an Ethernet signal according to the first voltage;

[0010] The mechanical arm circuit is configured to perform a corresponding function according to the Ethernet signal;

[0011] The gripper camera circuit is configured to perform a corresponding function according to the USB data signal.

[0012] In one of the embodiments, the USB data signal and the second voltage are used as the USB signal input to the gripper camera circuit.

[0013] In one of the embodiments, the power supply circuit further comprises:

[0014] a second conversion circuit configured to access a battery voltage and convert the battery voltage into the direct current according to a whole-machine switch signal;

[0015] a third conversion circuit connected with the second conversion circuit, the control circuit and the first switch circuit, and configured to convert the direct current into the first voltage.

[0016] In one of the embodiments, further comprising:

[0017] a battery connected with the second conversion circuit and configured to output the battery voltage.

[0018] In one of the embodiments, the second conversion circuit comprises:

[0019] a first switch component configured to output a control signal according to the whole-machine switch signal;

[0020] a second switch component connected with the first switch component and the third conversion circuit, and configured to convert the battery voltage into the direct current according to the control signal; wherein the direct current is current-limited within a preset time when the second switch component receives the control signal.

[0021] In one of the embodiments, further comprising:

[0022] a protection circuit connected with the second switch circuit and configured to current-limit protect the direct current;

[0023] The second switch circuit is specifically configured to access the current-limited direct current, and output the current-limited direct current to supply power to the mechanical arm circuit according to the first voltage.

[0024] In one of the embodiments, the first switch component comprises a push-button switch controller, a common-mode inductor, a first capacitor, a second capacitor, a third capacitor and a first resistor.

[0025] A power supply end of the push-button switch controller and a first end of the first capacitor are commonly connected to a first power supply.

[0026] A monitoring input end of the push-button switch controller is connected with a first end of the second capacitor, and a clock end of the push-button switch controller is connected with a first output end of the common-mode inductor and a first end of the third capacitor.

[0027] A first input end of the common-mode inductor and a second input end of the common-mode inductor are commonly used as a whole-machine switch signal input end of the first switch component to access the whole-machine switch signal.

[0028] The button input end of the button switch controller is connected with the first output end of the common mode inductor and the first end of the third capacitor;

[0029] The enable end of the button switch controller is connected with the second switch assembly as the control signal output end of the first switch assembly to output the control signal.

[0030] The second end of the first capacitor, the second end of the first resistor, the second end of the second capacitor, the second end of the third capacitor, the second output end of the common mode inductor and the ground end of the button switch controller are commonly connected with the power supply ground.

[0031] In one of the embodiments, the second switch assembly comprises a first field effect tube, a second field effect tube, a third field effect tube, a fourth field effect tube, a fourth capacitor, a fifth capacitor, a sixth capacitor, a second resistor, a third resistor, a fourth resistor, a fifth resistor and a sixth resistor.

[0032] The gate of the fourth field effect tube and the first end of the sixth capacitor commonly serve as the control signal input end of the second switch assembly and are connected with the first switch assembly to input the control signal.

[0033] The source of the second field effect tube, the source of the third field effect tube and the source of the first field effect tube, the first end of the fifth capacitor, the first end of the second resistor, the first end of the fourth resistor and the first end of the fourth capacitor commonly constitute the battery voltage input end of the second switch assembly to input the battery voltage.

[0034] The drain of the fourth field effect tube is connected with the first end of the fifth resistor and the first end of the third resistor, the second end of the fifth resistor is connected with the gate of the third field effect tube, the second end of the fourth resistor and the second end of the fourth capacitor, and the second end of the third resistor is connected with the gate of the second field effect tube, the second end of the fifth capacitor, the gate of the first field effect tube and the second end of the second resistor.

[0035] The drain of the third field effect tube is connected with the first end of the sixth resistor.

[0036] The drain of the first field effect tube, the drain of the second field effect tube and the second end of the sixth resistor commonly constitute the direct current output end of the second switch assembly and are connected with the third conversion circuit to output the direct current.

[0037] The source of the fourth field effect tube and the second end of the sixth capacitor are commonly connected with the power supply ground.

[0038] This invention also provides a robot, which includes the power supply circuit described above.

[0039] The beneficial effects of the embodiments of the present invention compared with the prior art are as follows: Since the robotic arm switch signal can control the output of the first voltage, and the first voltage can control the output of the power supply voltage of the robotic arm circuit, the power supply voltage of the gripper camera circuit is obtained by conversion of the first voltage. Thus, the robotic arm switch signal can control the power supply voltage of the robotic arm circuit and the power supply voltage of the gripper camera circuit. The gripper camera circuit starts and stops synchronously with the robotic arm circuit. The gripper camera circuit is not affected by the magnetic field generated by the power line of the robotic arm circuit, thus avoiding the gripper camera from crashing and repeatedly restarting. Attached Figure Description

[0040] To more clearly illustrate the technical inventions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a schematic diagram of a power supply circuit provided in one embodiment of this application;

[0042] Figure 2 This is a schematic diagram of another power supply circuit provided in one embodiment of this application;

[0043] Figure 3 This is a schematic diagram of another power supply circuit provided in one embodiment of this application;

[0044] Figure 4 This is a schematic diagram of another power supply circuit provided in one embodiment of this application;

[0045] Figure 5 A schematic diagram of a second conversion circuit in a power supply circuit provided in an embodiment of this application;

[0046] Figure 6 This is a schematic diagram of another power supply circuit provided in one embodiment of this application;

[0047] Figure 7 This is a partial example circuit schematic diagram of a power supply circuit provided in an embodiment of this application. Detailed Implementation

[0048] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0049] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0050] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0051] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0052] Figure 1 The structure of the power supply circuit provided by the preferred embodiment of the present application is shown in the structural diagram. For the purpose of illustration, only the parts related to the present embodiment are shown, and the details are as follows:

[0053] The above-mentioned power supply circuit includes a first switching circuit 11, a second switching circuit 12 and a first conversion circuit 13.

[0054] The first switching circuit 11 is configured to access the first voltage and conduct according to the mechanical arm switching signal to output the first voltage;

[0055] The second switching circuit 12 is connected with the first switching circuit 11 and is configured to access the direct current and conduct according to the first voltage to output the direct current to supply power to the mechanical arm circuit 20;

[0056] The first conversion circuit 13 is connected with the first switching circuit 11 and is configured to convert the first voltage into the second voltage to supply power to the gripper camera circuit 30.

[0057] As shown in the above-mentioned power supply circuit, the power supply circuit further includes a control circuit 14. Figure 2

[0058] The control circuit 14 is connected with the first switching circuit 11 and is configured to output USB data signal and Ethernet signal according to the first voltage; ​

[0059] The mechanical arm circuit 20 is configured to perform corresponding functions according to the Ethernet signal;

[0060] The gripper camera circuit 30 is configured to perform corresponding functions according to the USB data signal.

[0061] The control circuit 14 is used to output the digital control signal of the mechanical arm (Ethernet signal) through Ethernet and output the digital control signal of the camera (USB data signal) through the USB data line, so as to realize the intercommunication with the mechanical arm circuit 20 and the gripper camera circuit 30.

[0062] The USB data signal and the second voltage together serve as the USB signal input to the gripper camera circuit 30.

[0063] The mechanical arm circuit 20, the gripper circuit at the end of the mechanical arm, and the gripper camera circuit 30 for visual positioning installed on the gripper are an integral whole, so the power supply line of the mechanical arm circuit 20, the USB line of the gripper camera circuit 30, and the network cable are wound together and led out, which is conducive to wiring convenience, but also brings electromagnetic interference of the power supply line of the mechanical arm circuit to the USB data signal line, resulting in abnormal operation of the gripper camera when the mechanical arm circuit 20 is started and stopped. The present application changes the original USB data line for providing 5V power supply and data communication for the gripper camera circuit 30, so that the 5V power supply part is separately provided by an external power supply (second voltage) and is controlled by the mechanical arm switch signal, and the USB interface of the control circuit 14 only communicates with the gripper camera circuit 30 and no longer provides 5V power supply. In this way, the synchronous control of starting and stopping of the mechanical arm circuit 20, the gripper circuit, and the gripper camera circuit 30 can be achieved, and the electromagnetic interference of the switching action of the mechanical arm on the gripper camera is also reduced.

[0064] As shown in Figure 3 The power supply circuit further includes a second conversion circuit 15 and a third conversion circuit 16.

[0065] The second conversion circuit 15 is configured to access the battery voltage and convert the battery voltage into direct current according to the whole machine switch signal.

[0066] The third conversion circuit 16 is connected with the second conversion circuit 15, the control circuit 14, and the first switch circuit 11 and is configured to convert the direct current into the first voltage.

[0067] As shown in Figure 3As shown, first, the battery voltage is connected to the second conversion circuit 15, and the on-off of the whole machine power supply is controlled by the whole machine switch signal. If the whole machine switch is closed, through the action of the whole machine switch signal, the battery voltage is connected to the two-way direct current output end, one way of the direct current output end is connected to the input end of the second switch circuit 12, and the output end of the second switch circuit 12 is connected to the mechanical arm circuit 20. The other way of the direct current output end is outputted after passing through the third conversion circuit 16, and outputs the first voltage. After adding some port protection measures, the two ways of the first voltage port are directly connected, one way of the first voltage supplies power to the control circuit 14, and the other way of the first voltage is outputted to the control end of the second switch circuit 12 after passing through the first switch circuit 11, controls the on-off of the power supply of the mechanical arm circuit 20 and the gripper circuit, and after being converted into the second voltage, controls the on-off of the power supply of the gripper camera circuit 30.

[0068] The output of the direct current is controlled by the whole machine switch signal. When the direct current is disconnected, neither the direct current nor the first voltage is outputted, at this time, the whole machine system is powered off and stopped.

[0069] It should be noted that when the whole machine switch signal controls the output of the direct current and the mechanical arm switch signal controls the disconnection of the first voltage, all components of the mechanical arm system (including the power supply of the mechanical arm circuit 20, the gripper circuit, and the gripper camera circuit 30) will be powered off and stopped, but at this time, other parts of the whole machine system (including the main control board, the second conversion circuit 15, and the third conversion circuit 16) can still normally power on and run.

[0070] As shown in Figure 4 The above power supply circuit further includes a battery 17.

[0071] The battery 17 is connected to the second conversion circuit 15 and is configured to output the battery voltage.

[0072] As shown in Figure 5 The second conversion circuit 15 includes a first switch component 151 and a second switch component 152.

[0073] The first switch component 151 is configured to output a control signal according to the whole machine switch signal;

[0074] The second switch component 152 is connected to the first switch component 151 and the third conversion circuit 16, and is configured to convert the battery voltage into direct current according to the control signal; wherein the direct current is limited within a preset time when the second switch component 152 receives the control signal.

[0075] The first switch component 151 realizes the control signal level conversion and delay control between the whole machine switch signals. The second switch component 152 realizes the pre-charging function of the direct current, which avoids the too many capacitive loads connected to the second switch component 152 from causing instantaneous short circuit and leading to too large ground current impact.

[0076] As shown in Figure 6 The power supply circuit further comprises a protection circuit 18.

[0077] The protection circuit 18 is connected with the second switch circuit 12 and configured to perform current limiting protection on the direct current.

[0078] The second switch circuit 12 is specifically configured to access the direct current after current limiting protection and conduct according to the first voltage, and output the direct current after current limiting protection to supply power to the mechanical arm circuit 20.

[0079] The protection circuit 18 can comprise a fuse.

[0080] The protection circuit 18 is added to protect the mechanical arm circuit 20, and in the case of some operation errors causing short circuit of the mechanical arm circuit 20, the protection circuit can be first fused to achieve overcurrent protection.

[0081] Figure 7 A partial example circuit structure of the power supply circuit provided by the embodiment of the application is shown, only the parts related to the embodiment of the application are shown for the convenience of description, and the details are as follows:

[0082] The first switch assembly 151 comprises a push button switch controller U1, a common mode inductor L1, a first capacitor C1, a second capacitor C2, a third capacitor C3 and a first resistor R1.

[0083] The power supply end VIN of the push button switch controller U1 and the first end of the first capacitor C1 are commonly connected to the first power supply VAA; the monitoring input end ON of the push button switch controller U1 is connected with the first end of the second capacitor C2, the clock end TMR of the push button switch controller U1 is connected with the first output end of the common mode inductor L1 and the first end of the third capacitor C3; the first input end of the common mode inductor L1 and the second input end of the common mode inductor L1 commonly serve as the whole machine switch signal input end of the first switch assembly 151 to access the whole machine switch signal; the button input end / PB of the push button switch controller U1 is connected with the first output end of the common mode inductor L1 and the first end of the third capacitor C3, the enable end EN of the push button switch controller U1 serves as the control signal output end of the first switch assembly 151 and is connected with the second switch assembly 152 to output the control signal; the second end of the first capacitor C1, the second end of the first resistor R1, the second end of the second capacitor C2, the second end of the third capacitor C3, the second output end of the common mode inductor L1 and the ground end GND of the push button switch controller U1 are commonly connected to the power supply ground.

[0084] It is worth emphasizing that the whole machine switch pressing time required for shutdown can be set by the capacitance value of the capacitor connected with the clock end TMR of the push button switch controller U1.

[0085] The second switch assembly 152 comprises a first field effect transistor M1, a second field effect transistor M2, a third field effect transistor M3, a fourth field effect transistor M4, a fourth capacitor C4, a fifth capacitor C5, a sixth capacitor C6, a second resistor R2, a third resistor R3, a fourth resistor R4, a fifth resistor R5, and a sixth resistor R6.

[0086] The gate of the fourth field effect transistor M4 and the first end of the sixth capacitor C6 are connected together as a control signal input end of the second switch assembly 152, and are connected with the first switch assembly 151 to access the control signal; the source of the second field effect transistor M2, the source of the third field effect transistor M3, and the source of the first field effect transistor M1, the first end of the fifth capacitor C5, the first end of the second resistor R2, the first end of the fourth resistor R4, and the first end of the fourth capacitor C4 together constitute a battery voltage input end of the second switch assembly 152 to input the battery voltage; the drain of the fourth field effect transistor M4 is connected with the first end of the fifth resistor R5 and the first end of the third resistor R3, the second end of the fifth resistor R5 is connected with the gate of the third field effect transistor M3, the second end of the fourth resistor R4, and the second end of the fourth capacitor C4, the second end of the third resistor R3 is connected with the gate of the second field effect transistor M2, the second end of the fifth capacitor C5, the gate of the first field effect transistor M1, and the second end of the second resistor R2; the drain of the third field effect transistor M3 is connected with the first end of the sixth resistor R6; the drain of the first field effect transistor M1, the drain of the second field effect transistor M2, and the second end of the sixth resistor R6 together constitute a direct current output end of the second switch assembly 152, which is connected with the third conversion circuit 16 to output the direct current; the source of the fourth field effect transistor M4 and the second end of the sixth capacitor C6 are connected to the power supply ground.

[0087] The capacitance of the fourth capacitor C4 connected in parallel between the gate and the source of the third field effect transistor M3 is smaller than the capacitance of the fifth capacitor C5 connected in parallel between the gate and the source of the first field effect transistor M1 and the second field effect transistor M2, so that the third field effect transistor M3 is turned on first, and the drain of the third field effect transistor M3 is connected with the power resistor (the sixth resistor R6) to realize current limiting, thereby realizing the pre-charge circuit, preventing the defect of too much capacitive load connected to the direct current output end of the second switch assembly 152 after instantaneous conduction, and preventing the defect of too large current impact caused by instantaneous short circuit.

[0088] The working principle of the pre-charge circuit will be further described below. Figure 7

[0089] ​When the power switch is pressed, the first input end of the common mode inductor L1 and the second input end of the common mode inductor L1 jointly receive the whole machine switch signal, the whole machine switch signal (low level) is input to the button input end / PB of the button switch controller U1 after common mode suppression of the common mode inductor L1, and after the whole machine switch signal is maintained for a preset time length (such as 32 ms), the button switch controller U1 outputs a high level control signal from the enable end EN of the button switch controller U1 to the gate of the fourth field effect tube M4. The fourth field effect tube M4 is turned on according to the control signal, and outputs a low level switch signal from the drain of the fourth field effect tube M4.

[0090] Therefore, a certain pressure difference is formed between the source and the drain of the first field effect tube M1, between the source and the drain of the second field effect tube M2, and between the source and the drain of the third field effect tube M3. The first field effect tube M1 and the second field effect tube M2 are connected in parallel, the third field effect tube M3 is a single path, and the fourth field effect tube M4 is turned on to form a pressure difference. First, because the capacitance value of the fourth capacitor C4 connected in parallel between the gate and the source of the third field effect tube M3 is smaller than the capacitance value of the fifth capacitor C5 connected in parallel between the gate and the source of the first field effect tube M1 and the second field effect tube M2, the fourth capacitor C4 is charged first, the third field effect tube M3 is turned on first, and a pre-charge circuit is formed by connecting the power resistor (sixth resistor R6) to the direct current output end of the second switch assembly 152, to prevent the phenomenon of too much capacitive load connected to the direct current output end of the second switch assembly 152 from causing instantaneous short circuit and current impact when the third field effect tube M3 is turned on. When the fifth capacitor C5 is charged to a voltage equal to the opening voltage of the first field effect tube M1 and the second field effect tube M2, the first field effect tube M1 and the second field effect tube M2 start to conduct, the battery voltage is switched from the loop passing through the third field effect tube M3 to the direct current output end of the second switch assembly 152 to the loop passing through the first field effect tube M1 and the second field effect tube M2 in parallel to the direct current output end of the second switch assembly 152, and the pre-charge process is completed. When the whole machine needs to be turned off, the enable end EN of the button switch controller U1 outputs a low level, and the direct current output end of the second switch assembly 152 has no output, so that the power is turned off.

[0091] The embodiment of the present application also provides a robot, which comprises the power supply circuit.

[0092] The embodiment of the present application connects the first voltage through the first switch circuit and outputs the first voltage according to the mechanical arm switch signal; the second switch circuit connects the direct current and outputs the direct current to supply power to the mechanical arm circuit according to the first voltage; the first conversion circuit converts the first voltage into the second voltage to supply power to the gripper camera circuit; since the mechanical arm switch signal can control the output of the first voltage, the first voltage can control the output of the supply voltage of the mechanical arm circuit, and the supply voltage of the gripper camera circuit is converted from the first voltage, so that the mechanical arm switch signal can control the supply voltage of the mechanical arm circuit and the supply voltage of the gripper camera circuit, the gripper camera circuit and the mechanical arm circuit are started and stopped synchronously, the gripper camera circuit is not interfered by the magnetic field generated by the power line of the mechanical arm circuit, and the frequent restart of the gripper camera caused by the frequent shutdown of the gripper camera is avoided.

[0093] It should be understood that the size of the serial number of each step in the above embodiment does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0094] The above-described embodiments are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.

Claims

1. A power supply circuit, characterized in that, include: The first switching circuit is configured to receive a first voltage and be turned on according to the robotic arm's switching signal to output the first voltage; The second switching circuit is connected to the first switching circuit, configured to receive DC power, and conducts according to the first voltage to output DC power to supply power to the robotic arm circuit. A first conversion circuit, connected to the first switching circuit, is configured to convert the first voltage into a second voltage to power the gripper camera circuit. A control circuit, connected to the first switching circuit, is configured to output USB data signals and Ethernet signals according to the first voltage; The second conversion circuit is configured to receive the battery voltage and convert the battery voltage into DC power according to the overall machine switching signal; A third conversion circuit is connected to the second conversion circuit, the control circuit, and the first switching circuit, and is configured to convert the DC power into the first voltage. The robotic arm circuitry is configured to perform corresponding functions based on the Ethernet signal. The gripper camera circuit is configured to perform corresponding functions based on the USB data signal; The USB data signal and the second voltage together serve as the USB signal input to the gripper camera circuit.

2. The power supply circuit as described in claim 1, characterized in that, Also includes: A battery is connected to the second conversion circuit and configured to output the battery voltage.

3. The power supply circuit as described in claim 1, characterized in that, The second conversion circuit includes: The first switching component is configured to output a control signal according to the overall machine switching signal; The second switching assembly, connected to the first switching assembly and the third conversion circuit, is configured to convert the battery voltage into direct current according to the control signal; wherein, during a preset time period when the second switching assembly receives the control signal, the direct current is subject to current limiting.

4. The power supply circuit as described in claim 1, characterized in that, Also includes: A protection circuit, connected to the second switching circuit, is configured to provide current-limiting protection for the DC power. The second switching circuit is specifically configured to receive the DC power after current limiting protection, and to conduct according to the first voltage, output the DC power after current limiting protection to power the robotic arm circuit.

5. The power supply circuit as described in claim 3, characterized in that, The first switching assembly includes a push-button switch controller, a common-mode inductor, a first capacitor, a second capacitor, a third capacitor, and a first resistor; The power supply terminal of the push-button switch controller and the first terminal of the first capacitor are both connected to the first power supply. The monitoring input terminal of the push-button switch controller is connected to the first terminal of the second capacitor, and the clock terminal of the push-button switch controller is connected to the first output terminal of the common-mode inductor and the first terminal of the third capacitor. The first input terminal and the second input terminal of the common mode inductor together serve as the overall switching signal input terminal of the first switching assembly, so as to connect to the overall switching signal; The button input terminal of the push-button switch controller is connected to the first output terminal of the common-mode inductor and the first terminal of the third capacitor; The enable terminal of the push-button switch controller serves as the control signal output terminal of the first switch assembly and is connected to the second switch assembly to output the control signal. The second terminal of the first capacitor, the second terminal of the first resistor, the second terminal of the second capacitor, the second terminal of the third capacitor, the second output terminal of the common mode inductor, and the ground terminal of the push-button switch controller are all connected to the power supply ground.

6. The power supply circuit as described in claim 3, characterized in that, The second switching assembly includes a first field-effect transistor, a second field-effect transistor, a third field-effect transistor, a fourth field-effect transistor, a fourth capacitor, a fifth capacitor, a sixth capacitor, a second resistor, a third resistor, a fourth resistor, a fifth resistor, and a sixth resistor; The gate of the fourth field-effect transistor and the first terminal of the sixth capacitor together serve as the control signal input terminal of the second switching assembly, and are connected to the first switching assembly to receive the control signal; The source of the second field-effect transistor, the source of the third field-effect transistor, the source of the first field-effect transistor, the first terminal of the fifth capacitor, the first terminal of the second resistor, the first terminal of the fourth resistor, and the first terminal of the fourth capacitor together constitute the battery voltage input terminal of the second switching assembly to input the battery voltage; The drain of the fourth field-effect transistor is connected to the first end of the fifth resistor and the first end of the third resistor. The second end of the fifth resistor is connected to the gate of the third field-effect transistor, the second end of the fourth resistor, and the second end of the fourth capacitor. The second end of the third resistor is connected to the gate of the second field-effect transistor, the second end of the fifth capacitor, the gate of the first field-effect transistor, and the second end of the second resistor. The drain of the third field-effect transistor is connected to the first terminal of the sixth resistor; The drain of the first field-effect transistor, the drain of the second field-effect transistor, and the second end of the sixth resistor together constitute the DC output terminal of the second switching assembly, which is connected to the third conversion circuit to output the DC power. The source of the fourth field-effect transistor and the second terminal of the sixth capacitor are both connected to the power supply ground.

7. A robot, characterized in that, The robot includes a power supply circuit as described in any one of claims 1 to 6.

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