Robotic arm control circuit

Abstract

The present invention discloses a robotic arm control circuit, comprising: a main control circuit, whose output terminal is connected to a signal transmission circuit and a data encryption circuit; a signal transmission circuit, whose output terminal is connected to a robotic arm driving circuit; a USB debugging circuit, whose input terminal is connected to a USB device and whose output terminal is connected to the main control circuit and the robotic arm driving circuit; an emergency stop control circuit, whose input terminal is connected to an emergency stop button and whose output terminal is connected to the robotic arm driving circuit and the main control circuit. The USB debugging circuit makes the path for controlling the robotic arm movement not single. Even if the main control circuit is disconnected from the signal transmission circuit, the control of the robotic arm can still be achieved, ensuring the normal operation of the robotic arm. When the robotic arm needs to be started, the emergency stop button is closed to supply power to the robotic arm driving circuit. When the emergency stop button is disconnected, the power supply to the robotic arm driving circuit is stopped and a high-level signal is output to the main control circuit, so that the start of the robotic arm is slow, improving the service life of the robotic arm and effectively protecting the robotic arm.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arm control, and particularly to a robotic arm control circuit. Background Art

[0002] In the prior art, when controlling the robotic arm of a robot, the robotic arm driving circuit is often controlled by a program stored inside the main control circuit to control the movement of the robotic arm. This method completely realizes the download of the program through software. This program download method is too single. When the main control circuit fails to work, the control process is interrupted, and the normal operation of the robotic arm cannot be guaranteed. Moreover, some data parameters set for the main control circuit often cannot be encrypted, affecting the security of the robotic arm.

[0003] Meanwhile, in the control of the robotic arm, an emergency stop button is often set. When an emergency occurs, the working robotic arm is powered off by disconnecting the emergency stop button to protect the robotic arm. However, in the prior art, the main control circuit cannot know that the robotic arm has been powered off, so it cannot accurately control the actions of other devices, which may cause mis-start of other devices during the production process and affect production efficiency. Summary of the Invention

[0004] Based on this, it is necessary to propose a robotic arm control circuit for the above problems.

[0005] A robotic arm control circuit includes:

[0006] A USB debugging circuit, with an input end connected to a USB device, and an output end connected to the main control circuit and the robotic arm driving circuit; used to receive the USB analog signal transmitted by the USB device, convert the USB analog signal into a differential signal and then transmit it to the robotic arm driving circuit; and output a low-level signal to the main control circuit;

[0007] An emergency stop control circuit, with an input end connected to an emergency stop button, and an output end connected to the robotic arm driving circuit and the main control circuit, used to supply power to the robotic arm driving circuit when the emergency stop button is closed; or stop supplying power to the robotic arm driving circuit and output a high-level signal to the main control circuit when the emergency stop button is disconnected;

[0008] The main control circuit, with an output end connected to a signal transmission circuit, used to output a control signal to the signal transmission circuit; and receive the low-level signal to disconnect the connection with the signal transmission circuit; and receive the high-level signal to control the actions of other devices according to the high-level signal;

[0009] The signal transmission circuit, whose output end is connected to the robotic arm driving circuit, is used to transmit the control signal output by the main control circuit to the robotic arm driving circuit, so that the robotic arm driving circuit controls the movement of the robotic arm;

[0010] The data encryption circuit, connected to the main control circuit, is used to receive the data parameters output by the main control circuit and encrypt the data parameters.

[0011] In one embodiment, the USB debugging circuit includes:

[0012] The first signal conversion circuit, connected to the second signal conversion circuit and the USB device, is used to receive the USB analog signal transmitted by the USB device, convert the USB analog signal into an electrical signal, and then transmit the electrical signal to the second signal conversion circuit;

[0013] The second signal conversion circuit, connected to the robotic arm driving circuit, is used to convert the received electrical signal into a differential signal and transmit the differential signal to the robotic arm driving circuit, so that the robotic arm driving circuit controls the movement of the robotic arm;

[0014] The judgment circuit, with its input end connected to the USB device and its output end connected to the main control circuit, is used to judge whether the USB device outputs the USB analog signal. If the USB device outputs the USB analog signal, it outputs a first low-level signal to the main control circuit.

[0015] In one embodiment, the emergency stop control circuit includes:

[0016] The soft start circuit, with its input end connected to the emergency stop button and its output end connected to the robotic arm driving circuit, is used to charge when the emergency stop button is closed;

[0017] The sampling circuit, connected to the soft start circuit, is used to obtain the first voltage value after the soft start circuit is charged and transmit it to the main control circuit;

[0018] The switch circuit, with its input end connected to the emergency stop button and its output end connected to the soft start circuit and the main control circuit. When the main control circuit obtains the first voltage value, when the first voltage value is greater than the first preset value, the main control circuit outputs a low-level signal to the switch circuit; the switch circuit is used to receive the low-level signal when the emergency stop button is closed and control the soft start circuit to supply power to the robotic arm driving circuit; or when the emergency stop button is disconnected, control the soft start circuit to stop supplying power to the robotic arm driving circuit and output a high-level signal to the main control circuit.

[0019] In one embodiment, the data encryption circuit includes:

[0020] A storage circuit, connected to the main control circuit, for receiving the data parameters output by the main control circuit and storing the data parameters.

[0021] An encryption circuit, connected to the storage circuit, for encrypting the data parameters stored in the storage circuit.

[0022] In one embodiment,

[0023] The main control circuit includes: a first chip;

[0024] The signal transmission circuit includes: a second chip;

[0025] The communication input end of the first chip is connected to the communication output end of the second chip, the communication output end of the first chip is connected to the communication input end of the second chip, and the enable output end of the first chip is connected to the enable active low level end and the enable active high level end of the second chip; the in-phase end and the anti-phase end of the second chip are both connected to the robotic arm drive circuit; the USB status end of the first chip is connected to the output end of the USB debugging circuit; the signal output end of the first chip is connected to the emergency stop control circuit.

[0026] In one embodiment, the first signal conversion circuit includes: a third chip;

[0027] The second signal conversion circuit includes: a first optocoupler, a second optocoupler, a fourth chip, and a fifth chip;

[0028] The USB positive interface and the USB negative interface of the third chip are respectively connected to the first pin and the second pin of the USB device; the communication input end and the communication output end of the third chip are both connected to the second signal conversion circuit;

[0029] The cathode of the first optocoupler is connected to the receiving end of the fifth chip;

[0030] The cathode of the second optocoupler is connected to the first signal conversion circuit, the anode is connected to an external power supply, the collector is connected to the external power supply and the sending end of the fifth chip, and the emitter base;

[0031] The input end of the fourth chip is connected to the sending end of the fifth chip; the output end of the fourth chip is connected to the enable active low level end and the enable active high level end of the fifth chip;

[0032] The in-phase end and the anti-phase end of the fifth chip are both connected to the robotic arm drive circuit.

[0033] In one embodiment, the judgment circuit includes: a third optocoupler;

[0034] The anode of the third optocoupler is connected to the third pin of the USB device, the cathode is connected to the fourth pin of the USB device, the collector is connected to the main control circuit, and the emitter is grounded.

[0035] In one embodiment,

[0036] The soft start circuit includes: a first diode, a second diode, a fuse, an inductor, a MOS transistor, a third diode, a first capacitor, and a first resistor;

[0037] The switch circuit includes: a fourth optocoupler, a fifth optocoupler, a second resistor, a first common cathode diode, a fourth diode, a second capacitor, a third resistor, and a fourth resistor;

[0038] The anode of the first diode is connected to the first pin of the emergency stop button, and the cathode is connected to one end of the fuse; the other end of the fuse is connected to the anode of the second diode, the cathode of the second diode is connected to one end of the inductor, and the other end of the inductor is connected to the drain of the MOS transistor and the input end of the sampling circuit; the gate of the MOS transistor is connected to the collector of the fourth optocoupler, and the source of the MOS transistor is connected to the robotic arm drive circuit;

[0039] One end of the first capacitor is connected to the source of the MOS transistor, and the other end is connected to the gate of the MOS transistor;

[0040] The first capacitor is in parallel with the first capacitor;

[0041] The anode of the third diode is connected to the gate of the MOS transistor, and the cathode is connected to the source of the MOS transistor;

[0042] The emitter of the fourth optocoupler is connected to the main control circuit, the anode of the fourth optocoupler is connected to an external power supply, and the cathode of the fourth optocoupler is connected to the external power supply and the main control circuit;

[0043] The collector of the fifth optocoupler is connected to the emitter of the fourth optocoupler, the emitter of the fifth optocoupler is grounded, the anode of the fifth optocoupler is connected to the first pin of the emergency stop button, and the cathode of the fifth optocoupler is grounded;

[0044] The common terminal of the first common cathode diode is connected to the emitter of the fourth optocoupler, the first anode of the first common cathode diode is connected to the main control circuit, and the second anode of the first common cathode diode is grounded;

[0045] One end of the second resistor is connected to the first anode of the first common cathode diode, and the other end is connected to the external power supply;

[0046] The anode of the fourth diode is connected to the first pin of the emergency stop button, and the cathode is connected to the anode of the fifth optocoupler;

[0047] One end of the second capacitor is connected to the anode of the fourth diode, and the other end is grounded;

[0048] One end of the third resistor is connected to the third resistor, and the other end is connected to the collector of the fourth optocoupler;

[0049] The fourth resistor is in parallel with the third resistor.

[0050] In one embodiment, the sampling circuit includes: a sixth chip, a fifth resistor, a sixth resistor, and a third capacitor;

[0051] The positive input terminal of the sixth chip is connected to the drain of the MOS transistor, the negative input terminal of the sixth chip is grounded, and the output terminal of the sixth chip is connected to the main control circuit and grounded;

[0052] One end of the fifth resistor is connected to the positive input terminal of the sixth chip, and the other end is grounded;

[0053] One end of the sixth resistor is connected to the positive input terminal of the sixth chip, and the other end is connected to the external power supply;

[0054] The third capacitor is in parallel with the fifth resistor.

[0055] In one embodiment,

[0056] The storage circuit includes: a seventh chip;

[0057] The encryption circuit includes: an eighth chip;

[0058] The data input terminal and the data output terminal of the seventh chip are both connected to the main control circuit; the data input terminal and the data output terminal of the eighth chip are respectively connected to the data input terminal and the data output terminal of the seventh chip, and the enable terminal of the eighth chip is connected to the main control circuit.

[0059] Implementing the embodiments of the present invention will have the following beneficial effects:

[0060] This application receives the USB analog signal transmitted by the USB device through the USB debugging circuit, converts the USB analog signal into a differential signal and then transmits it to the robotic arm driving circuit, so that the robotic arm driving circuit controls the movement of the robotic arm. By adding the USB debugging circuit, the path for controlling the movement of the robotic arm is no longer single. Even if the main control circuit is disconnected from the signal transmission circuit, the control of the robotic arm can still be achieved, effectively ensuring the normal operation of the robotic arm.

[0061] When the robotic arm needs to be started, the emergency stop button is closed to supply power to the robotic arm driving circuit; when the emergency stop button is disconnected, the power supply to the robotic arm driving circuit is stopped and a high-level signal is output to the main control circuit. This makes the start of the robotic arm slow, improving the service life of the robotic arm and effectively protecting the robotic arm. At the same time, by setting up a data encryption circuit, the data parameters sent by the main control circuit are encrypted, effectively improving the security of the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0063] Among them:

[0064] Figure 1 is the structural block diagram of the robotic arm control circuit in one embodiment;

[0065] Figure 2 is the circuit diagram of the main control circuit in one embodiment;

[0066] Figure 3 is the circuit diagram of the signal transmission circuit in one embodiment;

[0067] Figure 4 is the circuit diagram of the first signal conversion circuit in one embodiment;

[0068] Figure 5 is the circuit diagram of the second signal conversion circuit in one embodiment;

[0069] Figure 6 is the circuit diagram of the judgment circuit in one embodiment;

[0070] Figure 7 is the circuit diagram of the soft start circuit in one embodiment;

[0071] Figure 8 is the circuit diagram of the sampling circuit in one embodiment;

[0072] Figure 9 Circuit diagram of a storage circuit for an embodiment

[0073] Figure 10 Circuit diagram of an encryption circuit for an embodiment Detailed implementation manners

[0074] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0075] In the prior art, when controlling the robotic arm, the robotic arm driving circuit is often controlled by a program stored inside the main control circuit to control the movement of the robotic arm. This method completely realizes the download of the program through software. This program download method is too single. When the main control circuit fails to work, the control process is interrupted, and the normal operation of the robotic arm cannot be guaranteed. Moreover, some data parameters set for the main control circuit often cannot be encrypted, affecting the safety of the robotic arm.

[0076] At the same time, in the control of the robotic arm, an emergency stop button is often set. When an emergency occurs, the working robotic arm is powered off by disconnecting the emergency stop button to protect the robotic arm. However, in the prior art, when the emergency stop button is disconnected, a high-level signal is not sent to the main control circuit, and the main control circuit cannot know that the robotic arm has been powered off, so it cannot accurately control the actions of other devices, which may cause mis-startup of other devices during the production process and affect production efficiency. To solve the above technical problems, the present application provides a robotic arm control circuit Figure 1 Structural block diagram of a robotic arm control circuit for an embodiment. Refer to Figure 1 , including: a main control circuit 10, a signal transmission circuit 20, a USB debugging circuit 30, an emergency stop control circuit 40, and a data encryption circuit 50; wherein:

[0077] The input end of the USB debugging circuit 30 is connected to a USB device (not shown in the figure), and the output end is connected to the main control circuit 10 and the robotic arm driving circuit; it is used to receive the USB analog signal transmitted by the USB device, convert the USB analog signal into a differential signal and then transmit it to the robotic arm driving circuit; and output a low-level signal to the main control circuit 10

[0078] The input end of the emergency stop control circuit 40 is connected to the emergency stop button, and the output end is connected to the robotic arm drive circuit and the main control circuit 10. It is used to supply power to the robotic arm drive circuit when the emergency stop button is closed; or stop supplying power to the robotic arm drive circuit and output a high-level signal to the main control circuit 10 when the emergency stop button is open.

[0079] The output end of the main control circuit 10 is connected to the signal transmission circuit 20, and is used to output a control signal to the signal transmission circuit 20; and receive the low-level signal to disconnect the connection with the signal transmission circuit 20; and receive the high-level signal to control the actions of other devices according to the high-level signal.

[0080] The output end of the signal transmission circuit 20 is connected to the robotic arm drive circuit, and is used to transmit the control signal output by the main control circuit 10 to the robotic arm drive circuit, so that the robotic arm drive circuit controls the actions of the robotic arm.

[0081] The data encryption circuit 50 is connected to the main control circuit 10, and is used to receive the data parameters output by the main control circuit 10 and encrypt the data parameters.

[0082] This application receives the USB analog signal transmitted by the USB device through the USB debugging circuit, converts the USB analog signal into a differential signal and then transmits it to the robotic arm drive circuit, so that the robotic arm drive circuit controls the actions of the robotic arm. By adding the USB debugging circuit, the path for controlling the actions of the robotic arm is no longer single. Even if the main control circuit is disconnected from the signal transmission circuit, the control of the robotic arm can still be achieved, effectively ensuring the normal operation of the robotic arm. When the robotic arm needs to be started, the emergency stop button is closed to supply power to the robotic arm drive circuit; when the emergency stop button is open, the power supply to the robotic arm drive circuit is stopped and a high-level signal is output to the main control circuit. This makes the start of the robotic arm slow, improves the service life of the robotic arm and effectively protects the robotic arm.

[0083] In one embodiment, as Figures 4 - 6As shown in the figure, the USB debugging circuit 30 includes: a first signal conversion circuit 301, a second signal conversion circuit 302, and a judgment circuit 303. Among them, the first signal conversion circuit 301 is connected to the second signal conversion circuit 302 and the USB device, and is configured to receive the USB analog signal transmitted by the USB device, convert the USB analog signal into an electrical signal, and then transmit the electrical signal to the second signal conversion circuit 302. The second signal conversion circuit 302 is connected to the robotic arm driving circuit 60, and is configured to convert the received electrical signal into a differential signal, and transmit the differential signal to the robotic arm driving circuit 60, so that the robotic arm driving circuit 60 controls the robotic arm to act. The input end of the judgment circuit 303 is connected to the USB device, and the output end is connected to the main control circuit 10, and is configured to judge whether the USB device outputs the USB analog signal. If the USB device outputs the USB analog signal, a first low-level signal is output to the main control circuit 10.

[0084] In this application, the first signal conversion circuit 301 receives the USB analog signal transmitted by the USB device, converts the USB analog signal into an electrical signal and then transmits it to the second signal conversion circuit 302. The second signal conversion circuit 302 converts the electrical signal into a differential signal and then transmits it to the robotic arm driving circuit 60, so that the robotic arm driving circuit 60 controls the robotic arm to act. The judgment circuit 303 judges whether the USB device outputs the USB analog signal. If the USB device outputs the USB analog signal, the main control circuit 10 disconnects from the signal transmission circuit 20. By adding the first signal conversion circuit 301, the second signal conversion circuit 302, and the judgment circuit 303, the path for controlling the robotic arm is no longer single. Even if the main control circuit 10 is disconnected from the signal transmission circuit 20, the control of the robotic arm can still be achieved, effectively ensuring the normal operation of the robotic arm.

[0085] In one embodiment, as Figures 7 - 8As shown in the figure, the emergency stop control circuit 40 includes: a soft start circuit 401, a sampling circuit 402, and a switch circuit 403; wherein, the input end of the soft start circuit 401 is connected to the emergency stop button P14, and the output end is connected to the robotic arm drive circuit 60, and is used for charging when the emergency stop button P14 is closed; the sampling circuit 402 is connected to the soft start circuit 401, and is used for obtaining the first voltage value after the soft start circuit 401 is charged and transmitting it to the main control circuit 10; the input end of the switch circuit 403 is connected to the emergency stop button P14, and the output end is connected to the soft start circuit 401 and the main control circuit 10. The main control circuit 10 obtains the first voltage value, and when the first voltage value is greater than the first preset value, the main control circuit 10 outputs a low-level signal to the switch circuit 403; the switch circuit 403 is used for receiving the low-level signal when the emergency stop button P14 is closed and controlling the soft start circuit 401 to supply power to the robotic arm drive circuit 60; or when the emergency stop button P14 is disconnected, controlling the soft start circuit 401 to stop supplying power to the robotic arm drive circuit 60 and outputting a high-level signal to the main control circuit 10. When the robotic arm needs to be started, the emergency stop button P14 is closed. At this time, charging is carried out through the provided soft start circuit 401, and the first voltage value of the soft start circuit 401 obtained through the sampling circuit 402 is sent to the main control circuit 10. When the first voltage value is greater than the first preset value, the main control circuit 10 controls to send a low-level signal to the switch circuit 403. At this time, the switch circuit 403 controls the soft start circuit 401 to supply power to the robotic arm drive circuit 60; when the emergency stop button P14 is disconnected, the switch circuit 403 controls the soft start circuit 401 to stop supplying power to the robotic arm drive circuit 60 and outputs a high-level signal to the main control circuit 10. After the emergency stop button P14 is closed, the soft start circuit 401 is charged. When certain conditions are met, power is supplied to the robotic arm drive circuit 60, and then the robotic arm is started, so that the start of the robotic arm is carried out slowly, improving the service life of the robotic arm and effectively protecting the robotic arm.

[0086] In one embodiment, as Figures 9 - 10 shown, the data encryption circuit 50 includes: a storage circuit 501 and an encryption circuit 502; wherein, the storage circuit 501 is connected to the main control circuit 10, and is used for receiving the data parameters output by the main control circuit 10 and storing the data parameters, and the encryption circuit 502 is connected to the storage circuit 501, and is used for encrypting the data parameters stored in the storage circuit 501.

[0087] In one embodiment, as Figure 2 and Figure 3 shown, the main control circuit 10 includes: a first chip U2A; the signal transmission circuit 20 includes: a second chip U42.

[0088] Specifically, the communication input terminal PD6 of the first chip U2A is connected to the communication output terminal RO of the second chip U42, the communication output terminal PD5 of the first chip U2A is connected to the communication input terminal DI of the second chip U42, and the enable output terminal PE1 of the first chip U2A is connected to the enable active low level terminal and the enable active high level terminal DE of the second chip U42; the non-inverting terminal A and the inverting terminal of the second chip U42 are both connected to the robotic arm driving circuit 60; the USB status terminal AP15 of the first chip U2A is connected to the output terminal of the USB debugging circuit 30; the signal output terminal PA5 of the first chip U2A is connected to the emergency stop control circuit 40.

[0089] In one embodiment, as Figure 4 shown, as Figure 4 shown, the first signal conversion circuit 301 includes: a third chip U48, a fourth capacitor C83, a fifth capacitor C84, and a sixth capacitor C76; as Figure 5 shown, the second signal conversion circuit 302 includes: a first optocoupler U49, a second optocoupler U51, a fourth chip U53, and a fifth chip U52.

[0090] Specifically, the USB positive interface D+ and the USB negative interface D- of the third chip U48 are respectively connected to the first pin 2 and the second pin 3 of the USB device; the communication input terminal RXD and the communication output terminal TXD of the third chip U48 are both connected to the second signal conversion circuit 302; the collector of the first optocoupler U49 is connected to the first signal conversion circuit 301, the emitter is grounded, the anode is connected to an external power supply, and the cathode is connected to the receiving terminal RO of the fifth chip U52; the cathode of the second optocoupler U51 is connected to the first signal conversion circuit 301, the anode is connected to an external power supply, the collector is connected to the external power supply and the sending terminal DI of the fifth chip U52, and the emitter is grounded; the input terminal A of the fourth chip U53 is connected to the sending terminal DI of the fifth chip U52; the output terminal Y of the fourth chip U53 is connected to the enable active low level terminal and the enable active high level terminal DE of the fifth chip U52; the non-inverting terminal A and the inverting terminal They are all connected to the robotic arm drive circuit 60. One end of the fourth capacitor C83 is connected to the REGIN terminal and the VBUS terminal of the third chip U48, and the other end is grounded; the fifth capacitor C84 and the sixth capacitor C76 are both connected in parallel with the fourth capacitor C83, and the fourth capacitor C83, the fifth capacitor C84, and the sixth capacitor C76 filter the signals entering the third chip U48.

[0091] In one embodiment, as Figure 6 shown, the judgment circuit 303 includes: a third optocoupler U50, a seventh resistor R214, an eighth resistor R215, and a ninth resistor R212.

[0092] Specifically, the anode of the third optocoupler U50 is connected to the third pin 4 of the USB device, the cathode is connected to the fourth pin 1 of the USB device, the collector is connected to the main control circuit 10, and the emitter is grounded. One end of the seventh resistor R214 is connected to the anode of the third optocoupler U50, the other end of the seventh resistor R214 is connected to one end of the eighth resistor R215, and the other end of the eighth resistor R215 is grounded; one end of the ninth resistor R212 is connected to an external power supply, and the other end of the ninth resistor R212 is connected to the collector of the third optocoupler U50. The seventh resistor R214, the eighth resistor R215, and the ninth resistor R212 are all used to divide the voltage input to the third optocoupler U50.

[0093] In one embodiment, as Figure 7 shown, the soft start circuit 401 includes: a first diode D32, a second diode D105, a fuse F9, an inductor L2, a MOS transistor Q18, a third diode D50, a first capacitor C40, and a first resistor R87; the switch circuit 403 includes: a fourth optocoupler U20, a fifth optocoupler U44, a second resistor R144, a first common cathode diode D81, a fourth diode D91, a second capacitor C42, a third resistor R91, and a fourth resistor R197.

[0094] Specifically, the anode of the first diode D32 is connected to the first pin 1 of the emergency stop button P14, and the cathode is connected to one end of the fuse F9; the other end of the fuse F9 is connected to the anode of the second diode D105, the cathode of the second diode D105 is connected to one end of the inductor L2, and the other end of the inductor L2 is connected to the drain of the MOS transistor Q18 and the input end of the sampling circuit 402; the gate of the MOS transistor Q18 is connected to the collector of the fourth optocoupler U20, and the source of the MOS transistor Q18 is connected to the robotic arm drive circuit 60; one end of the first capacitor C40 is connected to the source of the MOS transistor Q18, and the other end is connected to the gate of the MOS transistor Q18; the first capacitor C40 is connected in parallel with the first capacitor C40; the anode of the third diode D50 is connected to the gate of the MOS transistor Q18, and the cathode is connected to the source of the MOS transistor Q18; the emitter of the fourth optocoupler U20 is connected to the main control circuit 10, the anode of the fourth optocoupler U20 is connected to an external power supply, and the cathode of the fourth optocoupler U20 is connected to the external power supply and the main control circuit 10; the collector of the fifth optocoupler U44 is connected to the emitter of the fourth optocoupler U20, the emitter of the fifth optocoupler U44 is grounded, the anode of the fifth optocoupler U44 is connected to the first pin 1 of the emergency stop button P14, and the cathode of the fifth optocoupler U44 is grounded; the common terminal of the first common cathode diode D81 is connected to the emitter of the fourth optocoupler U20, the first anode of the first common cathode diode D81 is connected to the main control circuit 10, and the second anode of the first common cathode diode D81 is grounded; one end of the second resistor R144 is connected to the first anode of the first common cathode diode D81, and the other end is connected to the external power supply; the anode of the fourth diode D91 is connected to the first pin 1 of the emergency stop button P14, and the cathode is connected to the anode of the fifth optocoupler U44; one end of the second capacitor C42 is connected to the anode of the fourth diode D91, and the other end is grounded; one end of the third resistor R91 is connected to the third resistor R91, and the other end is connected to the collector of the fourth optocoupler U20; the fourth resistor R197 is connected in parallel with the third resistor R91. In this embodiment, the fuse F9 is used to charge a large capacitor (not shown in the figure) connected behind. When the capacitor is fully charged, the MOS transistor Q18 is started; the fuse F9 and the inductor L2 are used to protect the MOS transistor Q18 to ensure that the current does not change suddenly. The third diode D50 is used to prevent the current from flowing back into the MOS transistor Q18; the first capacitor C40 and the first resistor R87 are used to filter the voltage flowing out of the third diode D50.The fourth opto-coupler U20 is used to isolate the voltage signal accessed by the emergency stop button P14, and the fifth opto-coupler U44 is used to isolate the low-level signal output by the main control circuit 10; the second resistor R144 is used for voltage division, and the first common cathode diode D81 is used to prevent the current from flowing back at the external power supply terminal. The third resistor R91 and the fourth resistor R197 are used for voltage division, and the second capacitor C42 is used to filter the low-level signal output by the main control circuit 10.

[0095] In one embodiment, as Figure 8 shown, the sampling circuit 402 includes: a sixth chip U43, a fifth resistor R85, a sixth resistor R86, and a third capacitor C39.

[0096] Specifically, the positive input terminal +IN of the sixth chip U43 is connected to the drain of the MOS transistor Q18, the negative input terminal -IN of the sixth chip U43 is grounded, and the output terminal OUT of the sixth chip U43 is connected to and grounded by the main control circuit 10; one end of the fifth resistor R85 is connected to the positive input terminal +IN of the sixth chip U43, and the other end is grounded; one end of the sixth resistor R86 is connected to the positive input terminal +IN of the sixth chip U43, and the other end is connected to an external power supply; the third capacitor C39 is connected in parallel with the fifth resistor R85. In this embodiment, the fifth resistor R85 and the sixth resistor R86 are used for voltage division, and the third capacitor C39 is used to filter the first voltage value after the soft start circuit 401 is charged.

[0097] In one embodiment, as Figure 9 shown, the storage circuit 501 includes: a seventh chip U16; as Figure 10 shown, the encryption circuit 502 includes: an eighth chip U14.

[0098] Specifically, the data input terminal P0 and the data output terminal P1 of the seventh chip U16 are both connected to the main control circuit 10; the data input terminal SDA and the data output terminal SCL of the eighth chip U14 are respectively connected to the data input terminal P0 and the data output terminal P1 of the seventh chip U16, and the enable terminal WP of the eighth chip U14 is connected to the main control circuit 10.

[0099] The working principle of the present application is as follows:

[0100] During normal operation, that is, when the emergency stop button P14 is closed, since the emergency stop button P14 is connected to an external power supply, the fuse F9 can charge a large capacitor (not shown in the figure) connected at the rear at this time. At the same time, the fourth optocoupler U20 conducts. When the capacitor is fully charged, the MOS transistor Q18 conducts to supply power to the robotic arm drive circuit 60. At the same time, a high-level signal is output to the first chip U2A through the fourth optocoupler U20, so that the main control circuit 10 can perform the next control on other devices.

[0101] When, in the previous working state, the emergency stop button P14 is pressed, that is, when the emergency stop button P14 is disconnected, since the emergency stop button P14 is connected to an external power supply, the external power supply cannot charge the large capacitor (not shown in the figure) connected at the rear through the fuse F9 at this time. At this time, the first chip U43 real-time collects the first voltage value at the rear end of the inductor L2 and outputs it to the first chip U2A. The first chip U2A compares the first voltage value with the first preset value preset inside it. If the first voltage value is greater than the first preset value, the first chip U2A outputs a low-level signal to the fourth optocoupler U20, and the fourth optocoupler U20 disconnects, thereby causing the MOS transistor Q18 to turn off, that is, disconnecting the connection between the MOS transistor Q18 and the robotic arm drive circuit 60. The robotic arm drive circuit 60 cannot be powered, and thus the robotic arm stops moving.

[0102] In the normal working state, the first chip U2A sends a control signal for controlling the robotic arm drive circuit 60 to the second chip U42 and transmits it to the robotic arm drive circuit 60. After receiving the control signal, the robotic arm drive circuit 60 controls the corresponding robotic arm connected to move.

[0103] When a USB device is connected, the third optocoupler U50 determines that when the USB device outputs the USB analog signal, the third optocoupler U50 outputs a low-level signal to the first chip U2A. At this time, the first chip U2A controls the enable activation low-level terminal of the second chip U42 And enable the active high-level terminal DE to be at a low level, thereby realizing the disconnection of the communication between the second chip U42 and the robotic arm drive circuit 60; at the same time, the third chip U48 is communicatively connected to the first optocoupler U49 and the second optocoupler U51. After the third chip U48 converts the USB analog signal into an electrical signal; the first optocoupler U49 and the second optocoupler U51 are connected to the fifth chip U52, and are used to isolate the electrical signal through the first optocoupler U49 and the second optocoupler U51 and then output it to the fifth chip U52; the input terminal A of the fourth chip U53 is connected to the transmission terminal DI of the fifth chip U52, and is used to detect whether the transmission terminal DI of the fifth chip U52 is at a high level or a low level. If it is detected that the transmission terminal DI of the fifth chip U52 is at a high level, a high level is output through the output terminal Y to the enable active low-level terminal of the fifth chip U52 And the enable active high-level terminal DE, so that the fifth chip U52 can send information more quickly; if the fourth chip U53 detects that the transmission terminal DI of the fifth chip U52 is not at a high level, a low level is output through the output terminal Y to the enable active low-level terminal of the fifth chip U52 And the enable active high-level terminal DE, so that the fifth chip U52 can receive information more quickly, so as to realize that the fifth chip U52 can convert the electrical signal into a differential signal and then output it to the robotic arm drive circuit 60.

[0104] For the data encryption circuit 50 part, the first chip U2A of the main control circuit 10 sends the set data parameters (such as the action frequency of the robotic arm, etc.) to the seventh chip U16 for storage. The eighth chip U14 can encrypt the data parameters stored in the seventh chip U16. When power is restored after a power failure, the first chip U2A obtains the stored parameter data from the seventh chip U16.

[0105] The above-disclosed are only the preferred embodiments of the present invention. Of course, the scope of the rights of the present invention cannot be limited thereby. Therefore, equivalent changes made according to the claims of the present invention still fall within the scope covered by the present invention.

Claims

1. A robotic arm control circuit, characterized in that, Comprising: A USB debugging circuit, with its input end connected to a USB device and its output end connected to a main control circuit and a robotic arm driving circuit; It is used to receive the USB analog signal transmitted by the USB device, convert the USB analog signal into a differential signal and then transmit it to the robotic arm driving circuit; And output a low-level signal to the main control circuit; An emergency stop control circuit, with its input end connected to an emergency stop button and its output end connected to the robotic arm driving circuit and the main control circuit. It is used to supply power to the robotic arm driving circuit when the emergency stop button is closed; or stop supplying power to the robotic arm driving circuit and output a high-level signal to the main control circuit when the emergency stop button is disconnected; The main control circuit, with its output end connected to a signal transmission circuit, is used to output a control signal to the signal transmission circuit; and receive the low-level signal to disconnect the connection with the signal transmission circuit; and receive the high-level signal to control the actions of other devices according to the high-level signal; The signal transmission circuit, with its output end connected to the robotic arm driving circuit, is used to transmit the control signal output by the main control circuit to the robotic arm driving circuit, so that the robotic arm driving circuit controls the actions of the robotic arm; A data encryption circuit, connected to the main control circuit, is used to receive the data parameters output by the main control circuit and encrypt the data parameters; Wherein, the emergency stop control circuit includes: A soft start circuit, with its input end connected to the emergency stop button and its output end connected to the robotic arm driving circuit, is used to charge when the emergency stop button is closed; A sampling circuit, connected to the soft start circuit, is used to obtain the first voltage value after the soft start circuit is charged and transmit it to the main control circuit; A switching circuit, with its input end connected to the emergency stop button and its output end connected to the soft start circuit and the main control circuit. The main control circuit obtains the first voltage value. When the first voltage value is greater than the first preset value, the main control circuit outputs a low-level signal to the switching circuit; the switching circuit is used to receive the low-level signal when the emergency stop button is closed and control the soft start circuit to supply power to the robotic arm driving circuit; or control the soft start circuit to stop supplying power to the robotic arm driving circuit and output a high-level signal to the main control circuit when the emergency stop button is disconnected.

2. The robotic arm control circuit according to claim 1, characterized in that, The USB debugging circuit includes: A first signal conversion circuit, connected to a second signal conversion circuit and a USB device, is used to receive the USB analog signal transmitted by the USB device, convert the USB analog signal into an electrical signal and then transmit it to the second signal conversion circuit; The second signal conversion circuit, connected to the robotic arm driving circuit, is used to convert the received electrical signal into a differential signal and transmit the differential signal to the robotic arm driving circuit, so that the robotic arm driving circuit controls the actions of the robotic arm; A judgment circuit, with its input terminal connected to the USB device and its output terminal connected to the main control circuit, is used to judge whether the USB device outputs the USB analog signal. If the USB device outputs the USB analog signal, it outputs a first low-level signal to the main control circuit.

3. The robotic arm control circuit according to claim 1, characterized in that, The data encryption circuit includes: A storage circuit, connected to the main control circuit, for receiving the data parameters output by the main control circuit and storing the data parameters; An encryption circuit, connected to the storage circuit, for encrypting the data parameters stored in the storage circuit.

4. The robotic arm control circuit according to claim 1, characterized in that, The main control circuit includes: a first chip; The signal transmission circuit includes: a second chip; The communication input end of the first chip is connected to the communication output end of the second chip, the communication output end of the first chip is connected to the communication input end of the second chip, and the enable output end of the first chip is connected to the enable active low level end and the enable active high level end of the second chip; the in-phase end and the anti-phase end of the second chip are both connected to the robotic arm drive circuit; the USB status end of the first chip is connected to the output end of the USB debugging circuit; the signal output end of the first chip is connected to the emergency stop control circuit.

5. The robotic arm control circuit according to claim 2, characterized in that, The first signal conversion circuit includes: a third chip; The second signal conversion circuit includes: a first optocoupler, a second optocoupler, a fourth chip, and a fifth chip; The USB positive electrode interface and the USB negative electrode interface of the third chip are respectively connected to the first pin and the second pin of the USB device; the communication input terminal and the communication output terminal of the third chip are both connected to the second signal conversion circuit; The cathode of the first optocoupler is connected to the receiving end of the fifth chip; The cathode of the second optocoupler is connected to the first signal conversion circuit, the anode is connected to an external power supply, the collector is connected to the external power supply and the sending end of the fifth chip, and the emitter is grounded; The input terminal of the fourth chip is connected to the sending end of the fifth chip; the output terminal of the fourth chip is connected to the enable activation low-level terminal and the enable activation high-level terminal of the fifth chip; The in-phase terminal and the anti-phase terminal of the fifth chip are both connected to the robotic arm drive circuit.

6. The robotic arm control circuit according to claim 5, characterized in that, The judgment circuit includes: a third optocoupler; The anode of the third optocoupler is connected to the third pin of the USB device, the cathode is connected to the fourth pin of the USB device, the collector is connected to the main control circuit, and the emitter is grounded.

7. The robotic arm control circuit according to claim 1, characterized in that, The soft start circuit includes: a first diode, a second diode, a fuse, an inductor, a MOS transistor, a third diode, a first capacitor, and a first resistor; The switch circuit includes: a fourth optocoupler, a fifth optocoupler, a second resistor, a first common cathode diode, a fourth diode, a second capacitor, a third resistor, and a fourth resistor; The anode of the first diode is connected to the first pin of the emergency stop button, the cathode is connected to one end of the fuse; the other end of the fuse is connected to the anode of the second diode, the cathode of the second diode is connected to one end of the inductor, the other end of the inductor is connected to the drain of the MOS transistor and the input terminal of the sampling circuit; the gate of the MOS transistor is connected to the collector of the fourth optocoupler, and the source of the MOS transistor is connected to the robotic arm drive circuit; One end of the first capacitor is connected to the source of the MOS transistor, and the other end is connected to the gate of the MOS transistor; The first capacitor is in parallel with the first capacitor; The anode of the third diode is connected to the gate of the MOS transistor, and the cathode is connected to the source of the MOS transistor; The emitter of the fourth optocoupler is connected to the main control circuit, the anode of the fourth optocoupler is connected to an external power supply, and the cathode of the fourth optocoupler is connected to the external power supply and the main control circuit; The collector of the fifth optocoupler is connected to the emitter of the fourth optocoupler, the emitter of the fifth optocoupler is grounded, the anode of the fifth optocoupler is connected to the first pin of the emergency stop button, and the cathode of the fifth optocoupler is grounded; The common terminal of the first common-cathode diode is connected to the emitter of the fourth optocoupler, the first anode of the first common-cathode diode is connected to the main control circuit, and the second anode of the first common-cathode diode is grounded; One end of the second resistor is connected to the first anode of the first common-cathode diode, and the other end is connected to the external power supply; The anode of the fourth diode is connected to the first pin of the emergency stop button, and the cathode is connected to the anode of the fifth optocoupler; One end of the second capacitor is connected to the anode of the fourth diode, and the other end is grounded; One end of the third resistor is connected to the third resistor, and the other end is connected to the collector of the fourth optocoupler; The fourth resistor is connected in parallel with the third resistor.

8. The robotic arm control circuit according to claim 7, wherein, The sampling circuit includes: a sixth chip, a fifth resistor, a sixth resistor, and a third capacitor; The positive input terminal of the sixth chip is connected to the drain of the MOS transistor, the negative input terminal of the sixth chip is grounded, and the output terminal of the sixth chip is connected to the main control circuit and grounded; One end of the fifth resistor is connected to the positive input terminal of the sixth chip, and the other end is grounded; One end of the sixth resistor is connected to the positive input terminal of the sixth chip, and the other end is connected to the external power supply; The third capacitor is connected in parallel with the fifth resistor.

9. The robotic arm control circuit according to claim 3, wherein, The storage circuit includes: a seventh chip; The encryption circuit includes: an eighth chip; The data input terminal and the data output terminal of the seventh chip are both connected to the main control circuit; the data input terminal and the data output terminal of the eighth chip are respectively connected to the data input terminal and the data output terminal of the seventh chip, and the enable terminal of the eighth chip is connected to the main control circuit.

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