A protection method, circuit and device for exoskeleton robot motor bus voltage

Abstract

The present invention discloses a method, circuit and device for protecting the bus voltage of an exoskeleton robot motor. The method for protecting the bus voltage of an exoskeleton robot motor comprises: judging whether there is a power supply for the exoskeleton robot at present; if it is determined that there is a power supply for the exoskeleton robot, controlling the motor bus in the exoskeleton robot to control the bus voltage within a preset range; if it is determined that there is no power supply for the exoskeleton robot, controlling the motor bus in the exoskeleton robot to discharge the bus voltage; the protection circuit comprises: a voltage dividing circuit, an isolation circuit, a voltage comparison circuit and a discharge control circuit, and executes the method for protecting the bus voltage of an exoskeleton robot motor; the present invention combines the protection of the bus voltage in active and passive modes, and the stability of the bus voltage enables the bus to work normally for the exoskeleton robot, and further ensures the normal operation of other modules in the exoskeleton robot system.

Description

Technical Field

[0001] The present invention relates to the field of circuit protection for exoskeleton robots, and in particular to a method, circuit and device for protecting the bus voltage of an exoskeleton robot motor. Background Art

[0002] In the servo motor of the exoskeleton robot, a stable bus voltage is very important for the normal operation of the entire system of the skeleton robot. When the exoskeleton robot is powered by a power supply, that is, when it is active, the servo motor will switch between forward and reverse rotation continuously. When the switching frequency of forward and reverse rotation is too high, the peak value of the bus voltage will exceed the rated value of the bus voltage, and eventually the entire system of the exoskeleton robot will be damaged; when the exoskeleton robot is not powered by a power supply, that is, when it is passive, the servo motor passively rotates forward and reverse frequently, turning it into a motor, which affects the power supply system of the entire machine and even damages other industrial control equipment in the system. Therefore, in the entire system of the exoskeleton robot, the discharge protection of the bus voltage of the servo motor is particularly important. However, the existing bus protection circuit cannot fully realize the protection requirements of the bus voltage. In the prior art, only a comparator or a single-chip microcomputer is used to control the bus voltage. These schemes cannot combine the voltage protection of the servo motor bus in active and passive modes, and the discharge effect of the bus voltage is also limited. Summary of the invention

[0003] The present invention provides a method, circuit and device for protecting the bus voltage of an exoskeleton robot motor, so as to solve the technical problem that the prior art cannot perform voltage protection on the bus of a servo motor in both active and passive modes.

[0004] In order to solve the above technical problems, an embodiment of the present invention provides a method for protecting the bus voltage of an exoskeleton robot motor, comprising:

[0005] Determine whether there is a power source currently supplying power to the exoskeleton robot;

[0006] If it is determined that there is a power source supplying power to the exoskeleton robot, the motor bus in the exoskeleton robot is controlled to control the bus voltage within a preset range;

[0007] If it is determined that there is no power supply to the exoskeleton robot, the motor bus in the exoskeleton robot is controlled to discharge the bus voltage.

[0008] The embodiments of the present invention have the following beneficial effects:

[0009] When there is a power source to supply power to the exoskeleton robot, the embodiment of the present invention controls the bus voltage of the servo motor to be discharged to ensure the normal operation of the bus; when there is no power source to supply power to the exoskeleton robot, the bus voltage is discharged. Therefore, the embodiment of the present invention combines the protection of the bus voltage in active and passive modes. The bus voltage can be protected in both active and passive modes. The stability of the bus voltage enables the bus to provide stable and reliable power and signals, which ensures the normal operation of the exoskeleton robot and further ensures the normal operation of other modules in the exoskeleton robot system.

[0010] As a preferred solution, the motor bus in the exoskeleton robot is controlled to control the bus voltage within a preset range, specifically:

[0011] Collect bus voltage and divide the bus voltage to a preset voltage;

[0012] Comparing the preset voltage with a threshold voltage;

[0013] When the preset voltage is greater than the threshold voltage, the bus voltage is discharged so that the bus voltage is controlled within a preset range.

[0014] This preferred solution has the following beneficial effects:

[0015] This preferred solution collects the bus voltage, divides the bus voltage to obtain a preset voltage, and compares the preset voltage with the threshold voltage. When the preset voltage is greater than the threshold voltage, the bus voltage is discharged to control the bus voltage within a preset range, so that the bus can be discharged and controlled when the voltage overshoots, ensuring that the bus can continue to work normally, providing stable and reliable power supply and signals, and further ensuring the normal operation of other modules in the exoskeleton robot system.

[0016] The embodiment of the present invention further provides a protection circuit for the motor bus voltage of an exoskeleton robot, which performs the protection method for the motor bus voltage of an exoskeleton robot as described in any one of the above, wherein the protection circuit comprises: a voltage dividing circuit, an isolation circuit, a voltage comparison circuit and a discharge control circuit;

[0017] The voltage-dividing circuit is connected to the isolation circuit, the isolation circuit is connected to the voltage-dividing circuit and the voltage comparison circuit, and the voltage comparison circuit is connected to the isolation circuit and the discharge control circuit.

[0018] A protection circuit for the bus voltage of an exoskeleton robot motor provided in an embodiment of the present invention can execute the protection method for the bus voltage of an exoskeleton robot motor as described in any of the above items. When there is a power supply to power the exoskeleton robot, the bus voltage is discharged and controlled by the bus voltage protection circuit of the exoskeleton robot motor to ensure the normal operation of the bus; when there is no power supply to power the exoskeleton robot, the bus voltage is controlled by the discharge control circuit. In the embodiment of the present invention, since the servo motor will be converted from a power receiving device to a power generating device in the exoskeleton robot architecture, this is a situation that may not often occur in servo motors in other structures. Therefore, the embodiment of the present invention combines the protection of the bus voltage in active and passive modes. The bus voltage can be protected regardless of whether it is active or passive. The stability of the bus voltage enables the bus to work normally for the exoskeleton robot, and further ensures the normal operation of other modules in the exoskeleton robot system.

[0019] As a preferred solution, the voltage divider circuit includes: a fifth resistor, a ninth resistor and a fourteenth resistor;

[0020] The first end of the fifth resistor is connected to the busbar, the second end of the fifth resistor is connected to the first end of the ninth resistor and the isolation circuit, the second end of the ninth resistor is connected to the first end of the fourteenth resistor, and the second end of the fourteenth resistor is grounded.

[0021] This preferred solution collects the bus voltage and divides the bus voltage into a preset voltage, which is used for comparison between the subsequent circuit and the threshold voltage, thereby controlling the discharge of the bus voltage.

[0022] As a preferred solution, the voltage comparison circuit includes: a second resistor, a third resistor, a thirteenth resistor and a second operational amplifier;

[0023] A first end of the second resistor is connected to the isolation circuit, a second end of the second resistor is connected to a first end of the third resistor and an inverting input terminal of the second operational amplifier, a second end of the third resistor is grounded, a first end of the thirteenth resistor is connected to a non-inverting input terminal of the second operational amplifier, and a second end of the thirteenth resistor is connected to an output terminal of the second operational amplifier.

[0024] In this preferred solution, the preset voltage and the threshold voltage are compared through a circuit comparison circuit composed of an operational amplifier and related devices, and the comparison result is output through the output end of the operational amplifier. The comparison result is used for the subsequent circuit to control the discharge of the bus voltage.

[0025] As a preferred solution, the discharge control circuit includes: a fourth resistor, a sixth resistor, a tenth resistor, a voltage regulator tube and a transistor;

[0026] The second end of the fourth resistor and the second end of the voltage regulator are connected to the bus, the first end of the fourth resistor is connected to the second end of the transistor, the first end of the sixth resistor is connected to the first end of the tenth resistor and the first end of the transistor, the second end of the sixth resistor is connected to the first end of the voltage regulator, and the second end of the tenth resistor and the third end of the transistor are grounded.

[0027] This preferred solution utilizes a voltage regulator to control the conduction of a transistor, thereby achieving the discharge of the bus voltage through the transistor.

[0028] As a preferred solution, the isolation circuit includes: a first operational amplifier;

[0029] The inverting input terminal of the first operational amplifier is connected to the output terminal of the first operational amplifier, the non-inverting input terminal of the first operational amplifier is connected to the voltage divider circuit, and the output terminal of the first operational amplifier is connected to the voltage comparison circuit.

[0030] This preferred solution is used to isolate the front-stage circuit and the rear-stage circuit, which can avoid crosstalk of signals between the circuits and ensure that the rear-stage circuit will not interfere with the front-stage circuit, thereby ensuring the stability and reliability of the circuit.

[0031] As a preferred solution, the threshold voltage is set according to the resistance values ​​of the second resistor and the third resistor.

[0032] This preferred solution sets the threshold voltage according to the resistance values ​​of the second resistor and the third resistor. At the hardware level, the threshold voltage can be adjusted by adjusting the resistance values ​​of the second resistor and the third resistor, so that the threshold voltage can be adjusted relatively simply according to the actual scenario.

[0033] As a preferred solution, the transistor is a field effect transistor.

[0034] As a preferred solution, the first end of the transistor is a gate, the second end is a drain, and the third end is a source.

[0035] The embodiment of the present invention also provides a protection device for the motor bus voltage of an exoskeleton robot, comprising: a judgment module, an active control module and a passive control module;

[0036] Wherein, the judgment module is used to judge whether there is a power supply to supply power to the exoskeleton robot at present;

[0037] The active control module is used to control the motor bus in the exoskeleton robot to control the bus voltage within a preset range if the judgment module determines that there is a power source to supply power to the exoskeleton robot;

[0038] The passive control module is used to control the motor bus in the exoskeleton robot and discharge the bus voltage if the judgment module determines that there is no power supply to the exoskeleton robot.

[0039] When there is a power source to supply power to the exoskeleton robot, the bus voltage is discharged and controlled by the bus voltage protection circuit of the exoskeleton robot motor to ensure the normal operation of the bus; when there is no power source to supply power to the exoskeleton robot, the bus voltage is controlled by the discharge control circuit. Therefore, the embodiment of the present invention combines the protection of the bus voltage in active and passive modes. The bus voltage can be protected regardless of whether it is active or passive. The stability of the bus voltage enables the bus to provide stable and reliable power and signals, so that the exoskeleton robot can work normally, and further ensure the normal operation of other modules in the exoskeleton robot system.

[0040] As a preferred solution, the active control module includes a collection unit, a comparison unit and a discharge unit;

[0041] Wherein, the acquisition unit is used to acquire the bus voltage and divide the bus voltage into a preset voltage;

[0042] The comparison unit is used to compare the preset voltage with a threshold voltage;

[0043] The discharge unit is used to discharge the bus voltage when the preset voltage is greater than the threshold voltage, so that the bus voltage is controlled within a preset range. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 : A flow chart of a method for protecting the bus voltage of an exoskeleton robot motor provided by an embodiment of the present invention;

[0045] Figure 2 : A schematic diagram of the structure of a protection circuit for the bus voltage of an exoskeleton robot motor provided by an embodiment of the present invention;

[0046] Figure 3 : A schematic diagram of the structure of a protection device for the bus voltage of an exoskeleton robot motor provided by an embodiment of the present invention;

[0047] Figure 4 : A schematic diagram of the structure of an active control module of a protection device for the bus voltage of an exoskeleton robot motor provided by an embodiment of the present invention;

[0048] Figure 5 : A circuit diagram of a protection circuit for the bus voltage of an exoskeleton robot motor provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] Embodiment 1

[0051] In the servo motor of an exoskeleton robot, a stable bus voltage is very important for the normal operation of the entire system of the skeleton robot. Therefore, in the entire system of the exoskeleton robot, the discharge protection of the servo motor bus voltage is particularly important. However, the existing bus protection method cannot fully meet the protection requirements of the bus voltage, cannot combine the voltage protection of the servo motor bus in active and passive modes, and the discharge effect of the bus voltage is also limited. In order to solve the technical problem that the prior art cannot combine the voltage protection of the servo motor bus in active and passive modes, an embodiment of the present invention provides a protection method and circuit for the bus voltage of an exoskeleton robot motor.

[0052] Please refer to Figure 1 , is a flow chart of a method for protecting the bus voltage of an exoskeleton robot motor provided by an embodiment of the present invention, the method for protecting the bus voltage of an exoskeleton robot motor comprises steps 101 to 103, each of which is specifically as follows:

[0053] Step 101: Determine whether there is a power source currently supplying power to the exoskeleton robot;

[0054] Step 102: If it is determined that there is a power source supplying power to the exoskeleton robot, the motor bus in the exoskeleton robot is controlled to control the bus voltage within a preset range;

[0055] Step 103: If it is determined that there is no power supply to the exoskeleton robot, the motor bus in the exoskeleton robot is controlled to discharge the bus voltage.

[0056] In step 101, it is determined whether there is a power source currently supplying power to the exoskeleton robot.

[0057] From the perspective of power structure, exoskeleton robots can be divided into two categories: active and passive. The former is powered by an additional power source and has a stronger load-bearing capacity, while the latter is mainly powered by pure mechanical assistance without continuous power support. When the exoskeleton robot is used for too long and the additional power source cannot provide power support for the exoskeleton robot, the exoskeleton robot will enter the passive mode from the active mode. In the active mode and passive mode, there are multiple control methods for the bus protection of the servo motor in the exoskeleton robot.

[0058] In step 102, the motor bus in the exoskeleton robot is controlled to control the bus voltage within a preset range, specifically:

[0059] Collect bus voltage and divide the bus voltage to a preset voltage;

[0060] Comparing the preset voltage with a threshold voltage;

[0061] When the preset voltage is greater than the threshold voltage, the bus voltage is discharged so that the bus voltage is controlled within a preset range.

[0062] Among them, the bus voltage after voltage division, that is, the voltage value of the preset voltage will be close to the voltage value of the threshold voltage; the setting range of the threshold voltage is between 0V and the power supply voltage. In actual application, it is set based on the boost condition of the reverse voltage of the motor.

[0063] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0064] When there is a power source to supply power to the exoskeleton robot, the bus voltage is discharged and controlled by the bus voltage protection circuit of the exoskeleton robot motor to ensure the normal operation of the bus; when there is no power source to supply power to the exoskeleton robot, the bus voltage is controlled by the discharge control circuit. Therefore, the embodiment of the present invention combines the protection of the bus voltage in active and passive modes. The bus voltage can be protected regardless of whether it is active or passive. The stability of the bus voltage enables the bus to provide stable and reliable power and signals, so that the exoskeleton robot can work normally, and further ensure the normal operation of other modules in the exoskeleton robot system.

[0065] An embodiment of the present invention further provides a protection circuit for the bus voltage of an exoskeleton robot motor, which is used to execute any of the above-mentioned methods for protecting the bus voltage of an exoskeleton robot motor.

[0066] Please refer to Figure 2 , Figure 2 A schematic diagram of the structure of a protection circuit for the bus voltage of an exoskeleton robot motor provided in an embodiment of the present invention.

[0067] like Figure 2 As shown, the protection circuit of the motor bus voltage of the exoskeleton robot includes a voltage dividing circuit 201, an isolation circuit 202, a voltage comparison circuit 203 and a discharge control circuit 204;

[0068] The voltage-dividing circuit 201 is connected to the isolation circuit 202 , the isolation circuit 202 is connected to the voltage-dividing circuit 201 and the voltage comparison circuit 203 , and the voltage comparison circuit 203 is connected to the isolation circuit 202 and the discharge control circuit 204 .

[0069] Please refer to Figure 5 , Figure 5 A circuit diagram of a protection circuit for the bus voltage of an exoskeleton robot motor provided in an embodiment of the present invention.

[0070] In this embodiment, the voltage divider circuit 201 includes: a fifth resistor R5, a ninth resistor R9 and a fourteenth resistor R14;

[0071] The first end of the fifth resistor R5 is connected to the busbar, the second end of the fifth resistor R5 is connected to the first end of the ninth resistor R9 and the isolation circuit, the second end of the ninth resistor R9 is connected to the first end of the fourteenth resistor R14, and the second end of the fourteenth resistor R14 is grounded.

[0072] In this embodiment, the bus voltage is collected and divided into a preset voltage, and the preset voltage is used for comparison between the subsequent circuit and the threshold voltage, so as to control the discharge of the bus voltage.

[0073] In this embodiment, the voltage comparison circuit 203 includes: a second resistor R2, a third resistor R3, a thirteenth resistor R13 and a second operational amplifier U1.2;

[0074] The first end of the second resistor R2 is connected to the isolation circuit 202, the second end of the second resistor R2 is connected to the first end of the third resistor R3 and the inverting input terminal of the second operational amplifier U1.2, the second end of the third resistor R3 is grounded, the first end of the thirteenth resistor R13 is connected to the non-inverting input terminal of the second operational amplifier U1.2, and the second end of the thirteenth resistor R13 is connected to the output terminal of the second operational amplifier U1.2.

[0075] In this embodiment, the preset voltage and the threshold voltage are compared by a circuit comparison circuit composed of an operational amplifier and related devices, and the comparison result is output through the output end of the operational amplifier. The comparison result is used for the subsequent circuit to control the discharge of the bus voltage.

[0076] In this embodiment, the isolation circuit 202 and the voltage comparison circuit 203 are connected via an eighth resistor R8; the voltage comparison circuit 203 and the discharge control circuit 204 are connected via a seventh resistor R7.

[0077] In this embodiment, the threshold voltage is set according to the resistance values ​​of the second resistor R2 and the third resistor R3.

[0078] In this embodiment, the threshold voltage is set according to the resistance values ​​of the second resistor R2 and the third resistor R3. At the hardware level, the threshold voltage can be adjusted mainly by adjusting the resistance value R3 of the third resistor, so that the threshold voltage can be adjusted relatively simply according to the actual scenario.

[0079] In this embodiment, the discharge control circuit 204 includes: a fourth resistor R4, a sixth resistor R6, a tenth resistor R10, a voltage regulator D1 and a transistor Q1;

[0080] The second end of the fourth resistor R4 and the second end of the voltage regulator D1 are connected to the bus, the first end of the fourth resistor R4 is connected to the second end of the transistor Q1, the first end of the sixth resistor R6 is connected to the first end of the tenth resistor R10 and the first end of the transistor Q1, the second end of the sixth resistor R6 is connected to the first end of the voltage regulator D1, and the second end of the tenth resistor R10 and the third end of the transistor Q1 are grounded.

[0081] This embodiment uses a voltage regulator to control the conduction of a transistor, thereby achieving the discharge of the bus voltage through the transistor.

[0082] In this embodiment, the isolation circuit 202 includes: a first operational amplifier U1.1;

[0083] The inverting input terminal of the first operational amplifier U1.1 is connected to the output terminal of the first operational amplifier U1.1, the non-inverting input terminal of the first operational amplifier U1.1 is connected to the voltage divider circuit 201, and the output terminal of the first operational amplifier U1.2 is connected to the voltage comparison circuit 203.

[0084] This embodiment can isolate the front-stage circuit and the rear-stage circuit, avoid signal crosstalk between the circuits, and ensure that the rear-stage circuit does not interfere with the front-stage circuit, thereby ensuring the stability and reliability of the circuit.

[0085] In this embodiment, the transistor is a field effect transistor.

[0086] In this embodiment, the first terminal of the transistor is a gate, the second terminal is a drain, and the third terminal is a source.

[0087] In this embodiment, when it is determined that there is a power supply to power the exoskeleton robot, that is, in the active mode, when the bus voltage does not exceed the threshold voltage, the output end of the second operational amplifier U1.2 in the voltage comparison circuit 203 outputs a low level, the transistor Q1 does not reach the conduction threshold and cannot be turned on, and the servo motor works normally; when the bus voltage exceeds the threshold voltage, the output end of the second operational amplifier U1.2 in the voltage comparison circuit 203 outputs a high level, the transistor Q1 reaches the conduction threshold and turns on normally, thereby realizing the discharge of the bus voltage and controlling the bus voltage within a preset range.

[0088] In this embodiment, when it is determined that there is no power supply to the exoskeleton robot, that is, in passive mode, the discharge control circuit 204 can work alone, using the Zener diode D1 to work in an unstable area, controlling the conduction of the transistor Q1, clamping the bus voltage, and realizing the discharge of the bus voltage.

[0089] In this embodiment, a control interface can be reserved in the protection circuit of the bus voltage of the motor of the exoskeleton robot. The protection circuit of the bus voltage of the motor of the exoskeleton robot can be controlled from the software level through a single-chip microcomputer, and bus voltage protection can be achieved by combining software and hardware.

[0090] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0091] A protection circuit for the bus voltage of an exoskeleton robot motor provided in an embodiment of the present invention can execute the protection method for the bus voltage of an exoskeleton robot motor as described in any of the above items. When there is a power supply to power the exoskeleton robot, the bus voltage is discharged and controlled by the bus voltage protection circuit of the exoskeleton robot motor to ensure the normal operation of the bus; when there is no power supply to power the exoskeleton robot, the bus voltage is controlled by the discharge control circuit. In the embodiment of the present invention, since the servo motor will be converted from a power receiving device to a power generating device in the exoskeleton robot architecture, this is a situation that may not often occur in servo motors in other structures. Therefore, the embodiment of the present invention combines the protection of the bus voltage in active and passive modes. The bus voltage can be protected regardless of whether it is active or passive. The stability of the bus voltage enables the bus to provide stable and reliable power and signals for the normal operation of the exoskeleton robot, and further ensures the normal operation of other modules in the exoskeleton robot system.

[0092] Embodiment 2

[0093] Correspondingly, for the protection circuit for the bus voltage of the motor of an exoskeleton robot provided in Example 1, the embodiment of the present invention provides a specific data example.

[0094] In this embodiment, the voltage divider circuit 201 includes: a fifth resistor R5, a ninth resistor R9 and a fourteenth resistor R14;

[0095] In this embodiment, the resistance value of the fifth resistor R5 is 107 kΩ, the resistance value of the ninth resistor R9 is 4.7 kΩ, and the resistance value of the fourteenth resistor R14 is 1 kΩ.

[0096] In this embodiment, the isolation circuit 202 includes: a first operational amplifier U1.1;

[0097] In this embodiment, the voltage comparison circuit 203 includes: a second resistor R2, a third resistor R3, a thirteenth resistor R13 and a second operational amplifier U1.2;

[0098] In this embodiment, the isolation circuit 202 and the voltage comparison circuit 203 are connected via an eighth resistor R8; the voltage comparison circuit 203 and the discharge control circuit 204 are connected via a seventh resistor R7;

[0099] In this embodiment, the resistance of the second resistor R2 is 240kΩ, the resistance of the third resistor R3 is 86.6kΩ, the resistance of the thirteenth resistor R13 is 147kΩ, the models of the first operational amplifier U1.1 and the second operational amplifier U1.2 are TLV272IDR, the resistance of the eighth resistor R8 is 3kΩ, and the resistance of the seventh resistor R7 is 33Ω.

[0100] In this embodiment, the discharge control circuit 204 includes: a fourth resistor R4, a sixth resistor R6, a tenth resistor R10, a voltage regulator D1 and a transistor Q1;

[0101] In this embodiment, the resistance of the fourth resistor R4 is 6Ω, the resistance of the sixth resistor R6 is 100Ω, the resistance of the tenth resistor R10 is 2kΩ, the model of the voltage regulator D1 is MMSZ68VCW, and the model of the transistor Q1 is BSC098N10NS.

[0102] In an embodiment of the present invention, since the servo motor will be converted from a power receiving device to a power generating device in the exoskeleton robot architecture, this is a situation that may not often occur in servo motors in other structures. In addition, based on the application scenario of voltage of 24V and current of less than 5A, the device model and resistance value are selected according to the voltage resistance and overcurrent capability of the device, so that the protection circuit of the bus voltage of the exoskeleton robot motor provided by the embodiment of the present invention can effectively and reliably stabilize the bus voltage within a preset range in the application scenario of voltage of 24V and current of less than 5A, protect the bus, and ensure that the bus can work normally for the exoskeleton robot.

[0103] Embodiment 3

[0104] Correspondingly, the embodiment of the present invention also provides a protection device for the bus voltage of the motor of an exoskeleton robot. Figure 3 , Figure 3 A schematic diagram of the structure of a protection device for the motor bus voltage of an exoskeleton robot provided by an embodiment of the present invention. Figure 3 As shown, the protection device 30 for the motor bus voltage of the exoskeleton robot includes a judgment module 301, an active control module 302 and a passive control module 303;

[0105] Wherein, the judgment module 301 is used to judge whether there is a power supply to supply power to the exoskeleton robot at present;

[0106] The active control module 302 is used to control the motor bus in the exoskeleton robot to control the bus voltage within a preset range if the judgment module determines that there is a power source to supply power to the exoskeleton robot;

[0107] The passive control module 303 is used to control the motor bus in the exoskeleton robot and discharge the bus voltage if the judgment module determines that there is no power supply to the exoskeleton robot.

[0108] Please refer to Figure 4 , Figure 4 A schematic structural diagram of an active control module of a protection device for bus voltage of an exoskeleton robot motor provided in an embodiment of the present invention.

[0109] like Figure 4 As shown, the active control module 302 includes a collection unit 3021, a comparison unit 3022 and a discharge unit 3023;

[0110] The acquisition unit 3021 is used to acquire the bus voltage and divide the bus voltage into a preset voltage;

[0111] The comparison unit 3022 is used to compare the preset voltage with a threshold voltage;

[0112] The discharge unit 3023 is used to discharge the bus voltage when the preset voltage is greater than the threshold voltage, so that the bus voltage is controlled within a preset range.

[0113] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0114] When there is a power source to supply power to the exoskeleton robot, the bus voltage is discharged and controlled by the bus voltage protection circuit of the exoskeleton robot motor to ensure the normal operation of the bus; when there is no power source to supply power to the exoskeleton robot, the bus voltage is controlled by the discharge control circuit. Therefore, the embodiment of the present invention combines the protection of the bus voltage in active and passive modes. The bus voltage can be protected regardless of whether it is active or passive. The stability of the bus voltage enables the bus to provide stable and reliable power and signals, so that the exoskeleton robot can work normally, and further ensure the normal operation of other modules in the exoskeleton robot system.

[0115] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for protecting the bus voltage of an exoskeleton robot motor, characterized in that: A protection circuit for the bus voltage of an exoskeleton robot motor, the protection circuit comprising a voltage divider circuit, an isolation circuit, a voltage comparison circuit and a discharge control circuit; the voltage divider circuit is connected to the isolation circuit, the isolation circuit is connected to the voltage divider circuit and the voltage comparison circuit, and the voltage comparison circuit is connected to the isolation circuit and the discharge control circuit; Wherein, the voltage divider circuit comprises: a fifth resistor, a ninth resistor and a fourteenth resistor; a first end of the fifth resistor is connected to the bus bar, a second end of the fifth resistor is connected to a first end of the ninth resistor and the isolation circuit, a second end of the ninth resistor is connected to a first end of the fourteenth resistor, and a second end of the fourteenth resistor is grounded; The voltage comparison circuit includes: a second resistor, a third resistor, a thirteenth resistor and a second operational amplifier; the first end of the second resistor is connected to the isolation circuit, the second end of the second resistor is connected to the first end of the third resistor and the inverting input end of the second operational amplifier, the second end of the third resistor is grounded, the first end of the thirteenth resistor is connected to the non-inverting input end of the second operational amplifier, and the second end of the thirteenth resistor is connected to the output end of the second operational amplifier; the first end of the thirteenth resistor and the non-inverting input end of the second operational amplifier are connected to the isolation circuit; the second end of the thirteenth resistor and the output end of the second operational amplifier are connected to the discharge control circuit; The discharge control circuit includes: a fourth resistor, a sixth resistor, a tenth resistor, a voltage regulator and a transistor; the second end of the fourth resistor and the second end of the voltage regulator are connected to the bus, the first end of the fourth resistor is connected to the second end of the transistor, the first end of the sixth resistor is connected to the first end of the tenth resistor and the first end of the transistor, the second end of the sixth resistor is connected to the first end of the voltage regulator, and the second end of the tenth resistor and the third end of the transistor are grounded; the first end of the sixth resistor, the first end of the tenth resistor and the first end of the transistor are connected to the voltage comparison circuit; The isolation circuit comprises: a first operational amplifier; an inverting input terminal of the first operational amplifier is connected to an output terminal of the first operational amplifier, a non-inverting input terminal of the first operational amplifier is connected to the voltage divider circuit, and an output terminal of the first operational amplifier is connected to the voltage comparison circuit; The model of the first operational amplifier and the second operational amplifier is TLV272IDR; the model of the voltage regulator tube is MMSZ68VCW; the model of the transistor is BSC098N10NS; The protection method comprises: Determine whether there is a power source currently supplying power to the exoskeleton robot; If it is determined that there is a power source supplying power to the exoskeleton robot, the motor bus in the exoskeleton robot is controlled to control the bus voltage within a preset range; If it is determined that there is no power supply to the exoskeleton robot, the motor bus in the exoskeleton robot is controlled to discharge the bus voltage.

2. A method for protecting the bus voltage of an exoskeleton robot motor as claimed in claim 1, characterized in that: The motor bus in the exoskeleton robot is controlled to control the bus voltage within a preset range, specifically: Collect bus voltage and divide the bus voltage to a preset voltage; Comparing the preset voltage with a threshold voltage; When the preset voltage is greater than the threshold voltage, the bus voltage is discharged so that the bus voltage is controlled within a preset range.

3. A protection circuit for the bus voltage of an exoskeleton robot motor, characterized in that: Execute the method for protecting the motor bus voltage of an exoskeleton robot as described in any one of claims 1 to 2, wherein the protection circuit comprises: a voltage dividing circuit, an isolation circuit, a voltage comparison circuit and a discharge control circuit; The voltage-dividing circuit is connected to the isolation circuit, the isolation circuit is connected to the voltage-dividing circuit and the voltage comparison circuit, and the voltage comparison circuit is connected to the isolation circuit and the discharge control circuit.

4. A protection circuit for the motor bus voltage of an exoskeleton robot as claimed in claim 3, characterized in that: The voltage divider circuit comprises: a fifth resistor, a ninth resistor and a fourteenth resistor; The first end of the fifth resistor is connected to the busbar, the second end of the fifth resistor is connected to the first end of the ninth resistor and the isolation circuit, the second end of the ninth resistor is connected to the first end of the fourteenth resistor, and the second end of the fourteenth resistor is grounded.

5. The protection circuit for the motor bus voltage of an exoskeleton robot as claimed in claim 3, characterized in that: The voltage comparison circuit comprises: a second resistor, a third resistor, a thirteenth resistor and a second operational amplifier; The first end of the second resistor is connected to the isolation circuit, the second end of the second resistor is connected to the first end of the third resistor and the inverting input end of the second operational amplifier, the second end of the third resistor is grounded, the first end of the thirteenth resistor is connected to the non-inverting input end of the second operational amplifier, and the second end of the thirteenth resistor is connected to the output end of the second operational amplifier; the first end of the thirteenth resistor and the non-inverting input end of the second operational amplifier are connected to the isolation circuit; the second end of the thirteenth resistor and the output end of the second operational amplifier are connected to the discharge control circuit.

6. The protection circuit for the motor bus voltage of an exoskeleton robot as claimed in claim 3, characterized in that: The discharge control circuit comprises: a fourth resistor, a sixth resistor, a tenth resistor, a voltage regulator tube and a transistor; The second end of the fourth resistor and the second end of the voltage regulator are connected to the bus, the first end of the fourth resistor is connected to the second end of the transistor, the first end of the sixth resistor is connected to the first end of the tenth resistor and the first end of the transistor, the second end of the sixth resistor is connected to the first end of the voltage regulator, and the second end of the tenth resistor and the third end of the transistor are grounded; the first end of the sixth resistor, the first end of the tenth resistor and the first end of the transistor are connected to the voltage comparison circuit.

7. The protection circuit for the motor bus voltage of an exoskeleton robot as claimed in claim 3, characterized in that: The isolation circuit comprises: a first operational amplifier; The inverting input terminal of the first operational amplifier is connected to the output terminal of the first operational amplifier, the non-inverting input terminal of the first operational amplifier is connected to the voltage divider circuit, and the output terminal of the first operational amplifier is connected to the voltage comparison circuit.

8. The protection circuit for the motor bus voltage of an exoskeleton robot as claimed in claim 5, characterized in that: The threshold voltage is set according to the resistance values ​​of the second resistor and the third resistor.

9. The protection circuit for the motor bus voltage of an exoskeleton robot as claimed in claim 7, characterized in that: The transistor is a field effect transistor.

10. The protection circuit for the motor bus voltage of an exoskeleton robot as claimed in claim 7, characterized in that: The first end of the transistor is a gate, the second end is a drain, and the third end is a source.

11. A protection device for the bus voltage of an exoskeleton robot motor, characterized in that: A method for protecting the motor bus voltage of an exoskeleton robot according to any one of claims 1 to 2, comprising: a judgment module, an active control module and a passive control module; Wherein, the judgment module is used to judge whether there is a power supply to supply power to the exoskeleton robot at present; The active control module is used to control the motor bus in the exoskeleton robot to control the bus voltage within a preset range if the judgment module determines that there is a power source to supply power to the exoskeleton robot; The passive control module is used to control the motor bus in the exoskeleton robot and discharge the bus voltage if the judgment module determines that there is no power supply to the exoskeleton robot.

12. The protection device for the motor bus voltage of an exoskeleton robot as claimed in claim 11, characterized in that: The active control module includes a collection unit, a comparison unit and a discharge unit; Wherein, the acquisition unit is used to acquire the bus voltage and divide the bus voltage into a preset voltage; The comparison unit is used to compare the preset voltage with a threshold voltage; The discharge unit is used to discharge the bus voltage when the preset voltage is greater than the threshold voltage, so that the bus voltage is controlled within a preset range.

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