Motor overcurrent protection self-locking circuit, motor overcurrent protection self-locking device and robot

Abstract

The invention belongs to the technical field of robots, and provides a motor over-current protection self-locking circuit, a motor over-current protection self-locking device and a robot, a switch driving module generates a motor driving signal according to a pulse width modulation signal to drive a motor to work, an operational amplification module samples current flowing through the motor, and outputs the sampled current to the motor. The self-locking module generates a corresponding voltage feedback signal when the voltage of the operational amplification signal exceeds a preset voltage range, and carries out self-locking according to the voltage feedback signal. And the motor reset module controls the self-locking of the self-locking module to be released according to the reset control signal so as to reset the motor, so that the motor stops working under the condition of overlarge current, the purpose of protecting the motor is achieved, the risk of the motor under the working condition of large current is reduced, and the stability and reliability of the robot are improved.

Description

Technical Field

[0001] The present application belongs to the field of robot technology, and in particular relates to a motor overcurrent protection self-locking circuit, a motor overcurrent protection self-locking device, and a robot. Background Art

[0002] During operation, the motor is prone to generate large currents. When the motor is working under large currents, it is easy to generate heat and affect the service life of the motor. In order to protect the motor from the risks of large currents, the existing solution needs to be improved. Summary of the invention

[0003] In order to solve the above technical problems, the embodiments of the present application provide a motor overcurrent protection self-locking circuit, a motor overcurrent protection self-locking device, and a robot, which aim to reduce the risks faced by the motor under high current conditions.

[0004] A first aspect of an embodiment of the present application provides a motor overcurrent protection self-locking circuit, the motor overcurrent protection self-locking circuit comprising:

[0005] Main control module, used to provide pulse width modulation signal

[0006] A signal feedback module, connected to the main control module, for receiving a voltage feedback signal and adjusting the pulse width modulation signal according to the voltage feedback signal;

[0007] A switch driving module, connected to the main control module, the signal feedback module and the motor, for receiving the pulse width modulation signal and generating a motor driving signal according to the pulse width modulation signal to drive the motor to work;

[0008] An operational amplifier module, connected to the switch driving module, for sampling the current flowing through the motor and amplifying the current sampling signal to obtain a corresponding operational amplifier signal;

[0009] A self-locking module, connected to the operational amplifier module and the signal feedback module, configured to receive the operational amplifier signal, generate the corresponding voltage feedback signal when the voltage of the operational amplifier signal exceeds a preset voltage range, and perform self-locking according to the voltage feedback signal;

[0010] The motor reset module is connected to the self-locking module and the main control module, and is used to receive a reset control signal provided by the main control module, and control the self-locking release of the self-locking module according to the reset control signal to reset the motor.

[0011] In some embodiments, the motor overcurrent protection self-locking circuit includes:

[0012] The voltage-dividing diode module is connected between the operational amplifier module and the self-locking module, and is used for performing voltage-dividing processing on the operational amplifier signal and preventing the voltage feedback signal from flowing back into the operational amplifier module.

[0013] In some embodiments, the motor overcurrent protection self-locking circuit includes:

[0014] The filtering module is connected between the operational amplifier module and the self-locking module, and is used for filtering the operational amplifier signal.

[0015] In some embodiments, the switch driving module includes:

[0016] A push-pull driving unit, connected to the main control module, and configured to generate a push-pull driving signal according to the pulse width modulation signal;

[0017] A motor switch unit is connected to the motor and the push-pull driving unit, and is used to be turned on or off according to the push-pull driving signal to control the current flowing through the motor.

[0018] In some embodiments, the operational amplifier module includes:

[0019] A current sampling unit, connected in series with the motor, for sampling the current flowing through the motor to obtain a current sampling signal;

[0020] The operational amplifier unit is connected to the current sampling unit and is used to amplify the current sampling signal to obtain a corresponding operational amplified signal.

[0021] In some embodiments, the motor overcurrent protection self-locking circuit further includes:

[0022] A freewheeling diode is connected in parallel with the motor, a cathode of the freewheeling diode and a positive electrode of the motor are connected to a first power supply terminal, and an anode of the freewheeling diode and a negative electrode of the motor are connected to the switch driving module.

[0023] In some embodiments, the self-locking module includes:

[0024] A first switch unit, connected to the operational amplifier module, and configured to be turned on when the voltage of the operational amplification signal is within a preset voltage range;

[0025] a second switch unit, connected to the first switch unit and the second power supply terminal, wherein the switch state of the second switch unit is controlled by the switch state of the first switch unit, and generates the corresponding voltage feedback signal according to the voltage of the second power supply terminal and the conduction state of the first switch unit;

[0026] The self-locking loop unit is connected between the second switch unit and the first switch unit, and is used to control the first switch unit to remain turned on according to the voltage feedback signal.

[0027] In some embodiments, the control end of the second switch unit is also connected to the main control module, and the main control module is also used to monitor the voltage of the control end of the second switch unit.

[0028] A second aspect of an embodiment of the present application further provides a motor overcurrent protection self-locking device, wherein the motor overcurrent protection self-locking device comprises a motor overcurrent protection self-locking circuit as described in any one of the above embodiments.

[0029] A third aspect of the embodiments of the present application further provides a robot, comprising: a motor, and a motor overcurrent protection self-locking circuit as described in any one of the above embodiments.

[0030] The beneficial effects of the embodiments of the present application are as follows: a switch driving module generates a motor driving signal according to a pulse width modulation signal to drive the motor to work; the operational amplifier module samples the current flowing through the motor, and amplifies the current sampling signal to obtain a corresponding operational amplifier signal; the self-locking module generates a corresponding voltage feedback signal when the voltage of the operational amplifier signal exceeds a preset voltage range, and self-locks according to the voltage feedback signal; the motor reset module controls the self-locking release of the self-locking module according to the reset control signal to reset the motor, thereby enabling the motor to stop working when the current is too large, thereby achieving the purpose of protecting the motor, reducing the risk of the motor facing high current conditions, and improving the stability and reliability of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 The circuit structure of the motor overcurrent protection self-locking circuit provided in one embodiment of the present application is shown in FIG. Figure 1 ;

[0032] Figure 2 The circuit structure of the motor overcurrent protection self-locking circuit provided in one embodiment of the present application is shown in FIG. Figure 2 ;

[0033] Figure 3 The circuit structure of the motor overcurrent protection self-locking circuit provided in one embodiment of the present application is shown in FIG. Figure 3 ;

[0034] Figure 4 The circuit structure of the motor overcurrent protection self-locking circuit provided in one embodiment of the present application is shown in FIG. Figure 4 ;

[0035] Figure 5 The circuit structure of the motor overcurrent protection self-locking circuit provided in one embodiment of the present application is shown in FIG. Figure 5 ;

[0036] Figure 6 The circuit structure of the motor overcurrent protection self-locking circuit provided in one embodiment of the present application is shown in FIG. Figure 6 . DETAILED DESCRIPTION

[0037] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0038] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0039] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0040] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "plurality" means one or more, unless otherwise clearly and specifically defined.

[0041] When the motor works under high current, it is easy to generate heat and affect the service life of the motor. In order to protect the motor from the risk of high current, it is necessary to improve the existing solution.

[0042] In order to solve the above technical problems, the present application embodiment provides a motor overcurrent protection self-locking circuit, see Figure 1As shown, the motor overcurrent protection self-locking circuit in this embodiment includes: a main control module 100, a signal feedback module 200, a switch driving module 300, an operational amplifier module 400, a self-locking module 500, and a motor reset module 600. Specifically, the main control module 100 is used to provide a pulse width modulation signal, the signal feedback module 200 is connected to the main control module 100, and the signal feedback module 200 is used to receive a voltage feedback signal and adjust the pulse width modulation signal according to the voltage feedback signal. The switch driving module 300 is connected to the main control module 100, the signal feedback module 200 and the motor 700, and the switch driving module 300 is used to receive a pulse width modulation signal and generate a motor driving signal according to the pulse width modulation signal to drive the motor 700 to work. The operational amplifier module 400 is connected to the switch driving module 300. The operational amplifier module 400 is used to sample the current flowing through the motor 700 and amplify the current sampling signal to obtain the corresponding operational amplifier signal. The self-locking module 500 is connected to the operational amplifier module 400 and the signal feedback module 200. The self-locking module 500 is used to receive the operational amplifier signal and generate a corresponding voltage feedback signal when the voltage of the operational amplifier signal exceeds the preset voltage range, and self-lock according to the voltage feedback signal. The motor reset module 600 is connected to the self-locking module 500 and the main control module 100. The motor reset module 600 is used to receive the reset control signal provided by the main control module 100, and control the self-locking release of the self-locking module 500 according to the reset control signal to reset the motor 700.

[0043] In this embodiment, the switch driving module 300 generates a motor driving signal according to the pulse width modulation signal to drive the motor 700 to work, and the operational amplifier module 400 samples the current flowing through the motor 700, and amplifies the current sampling signal to obtain a corresponding operational amplifier signal. In the case of overcurrent in the motor 700, the voltage of the operational amplifier signal will exceed the preset voltage range, and the self-locking module 500 generates a corresponding voltage feedback signal when the voltage of the operational amplifier signal exceeds the preset voltage range, and self-locks according to the voltage feedback signal. At this time, the self-locking module 500 continues to send a corresponding voltage feedback signal to the signal feedback module 200, thereby lowering the level of the input end of the switch driving module 300 to ensure that the motor 700 stops working. When the motor 700 needs to be reset, the motor reset module 600 can control the self-locking release of the self-locking module 500 according to the reset control signal to reset the motor 700, so as to realize that the motor 700 stops working when the current is too large, so as to achieve the purpose of protecting the motor 700, reduce the risk of the motor 700 facing a large current working condition, and improve the stability and reliability of the robot.

[0044] In some embodiments, see Figure 2As shown, the motor overcurrent protection self-locking circuit in this embodiment includes a voltage divider diode module 810, which is connected between the operational amplifier module 400 and the self-locking module 500. The voltage divider diode module 810 is used to perform voltage division processing on the operational amplifier signal and prevent the voltage feedback signal from flowing back to the operational amplifier module 400.

[0045] In this embodiment, by setting a voltage divider diode module 810 between the operational amplifier module 400 and the self-locking module 500, the current of the overvoltage loop part in the self-locking module 500 can be prevented from flowing back to the operational amplifier module 400, and the operational amplifier signal output by the operational amplifier module 400 can be voltage-divided to avoid the problem that the voltage of the signal input to the self-locking module 500 is too large, causing the self-locking circuit to malfunction.

[0046] In some embodiments, see Figure 3 As shown, the motor overcurrent protection self-locking circuit in this embodiment includes a filter module 820, which is connected between the operational amplifier module 400 and the self-locking module 500, and is used to filter the operational amplifier signal.

[0047] In this embodiment, a filter module 820 may be provided between the operational amplifier module 400 and the self-locking module 500 to filter the operational amplifier signal, thereby improving the stability of the signal input to the self-locking module 500 .

[0048] In some embodiments, see Figure 4 As shown, the switch driving module 300 in this embodiment includes: a push-pull driving unit 310 and a motor switch unit 320, the push-pull driving unit 310 is connected to the main control module 100, and the push-pull driving unit 310 is used to generate a push-pull driving signal according to the pulse width modulation signal; the motor switch unit 320 is connected to the motor 700 and the push-pull driving unit 310, and the motor switch unit 320 is used to turn on or off according to the push-pull driving signal to control the current flowing through the motor 700.

[0049] In this embodiment, the push-pull driving unit 310 converts the received pulse width modulation signal to improve the driving capability, so that the push-pull driving unit 310 generates a corresponding push-pull driving signal to drive the high-power motor switch unit 320, thereby improving the operating stability of the motor 700.

[0050] In some embodiments, see Figure 5As shown, the operational amplifier module 400 includes: a current sampling unit 410 and an operational amplifier unit 420. The current sampling unit 410 is connected in series with the motor 700, and the current sampling unit 410 is used to sample the current flowing through the motor 700 to obtain a current sampling signal; the operational amplifier unit 420 is connected to the current sampling unit 410, and the operational amplifier unit 420 is used to amplify the current sampling signal to obtain a corresponding operational amplified signal.

[0051] In this embodiment, by setting the current sampling unit 410 in series with the motor 700, the current flowing through the motor 700 can be sampled to obtain a current sampling signal, and the current sampling signal is amplified by the operational amplifier unit 420 to obtain an operational amplified signal with a larger voltage, which is output to the self-locking circuit, so that the self-locking circuit continuously outputs a voltage feedback signal to the signal feedback module 200, lowers the level of the input end of the switch drive module 300, ensures that the motor 700 is locked in the off state, and ensures that the motor 700 is in a stopped working state after the overcurrent action is triggered, thereby avoiding the problem of abnormal operation of the motor 700 under overcurrent conditions.

[0052] In some embodiments, participating Figure 6 As shown, the motor overcurrent protection self-locking circuit in this embodiment also includes a freewheeling diode D0, which is connected in parallel with the motor 700, the cathode of the freewheeling diode D0 and the positive pole of the motor 700 are connected to the first power supply terminal VP, and the anode of the freewheeling diode D0 and the negative pole of the motor 700 are connected to the switch driving module 300.

[0053] In this embodiment, the flyback diode D0 and the coil of the motor 700 form a flyback circuit, which can prevent the problem of excessive induced current in the motor 700 damaging circuit components.

[0054] In some embodiments, participating Figure 6 As shown, the self-locking module 500 in this embodiment includes: a first switch unit 510, a second switch unit 520 and a self-locking loop unit 530. The first switch unit 510 is connected to the operational amplifier module 400, and the first switch unit 510 is used to turn on when the voltage of the operational amplifier signal exceeds the preset voltage range; the second switch unit 520 is connected to the first switch unit 510 and the second power supply terminal, and the switching state of the second switch unit 520 is controlled by the switching state of the first switch unit 510, and generates a corresponding voltage feedback signal according to the voltage of the second power supply terminal and the conduction state of the first switch unit 510. The self-locking loop unit 530 is connected between the second switch unit 520 and the first switch unit 510, and the self-locking loop unit 530 is used to control the first switch unit 510 to remain on according to the voltage feedback signal.

[0055] In this embodiment, the control end of the first switch unit 510 receives the operational amplifier signal, and is turned on when the level of the operational amplifier signal exceeds a preset voltage range, thereby pulling down the level of the control end of the second switch unit 520, thereby turning on the second switch unit 520. In this way, the second switch unit 520 can provide a high-level signal to the control end of the first switch unit 510 via the self-locking loop unit 530, so that the first switch unit 510 remains turned on, thereby continuously providing a corresponding voltage feedback signal to the signal feedback module 200, so that the switch driving module 300 stops working, thereby achieving the purpose of motor overcurrent protection.

[0056] In some embodiments, the control end of the second switch unit 520 is also connected to the main control module 100 , and the main control module 100 is also used to monitor the voltage of the control end of the second switch unit 520 .

[0057] Combination Figure 6 As shown, when the level of the operational amplifier signal exceeds the preset voltage range, it can be determined that the motor 700 is in an overcurrent state. At this time, the first switch unit 510 is turned on. Due to the action of the self-locking loop unit 530, the control end of the second switch unit 520 is continuously pulled down. The control end of the second switch unit 520 in this embodiment can also provide an overcurrent protection detection signal OCP_DETECT for the main control module 100. The main control module 100 can determine the switching state of the second switch unit 520 according to the overcurrent protection detection signal OCP_DETECT, thereby determining the working state of the motor 700.

[0058] In some embodiments, in combination Figure 6 As shown, the signal feedback module 200 includes a first resistor R1, a second resistor R2, and a first switch tube Q1. The first end of the first resistor R1 is connected to the signal feedback end OCP of the self-locking module 500, the second end of the first resistor R1, the first end of the second resistor R2, and the control end of the first switch tube Q1 are connected in common, the first end of the first switch tube Q1 is connected to the input end of the switch driving module 300, and the second end of the second resistor R2 and the second end of the first switch tube Q1 are connected in common to the ground.

[0059] In this embodiment, the first resistor R1 and the second resistor R2 form a voltage divider circuit to perform voltage division processing on the input voltage feedback signal. When the motor 700 is overcurrent, the signal after voltage division processing can control the first switch tube Q1 to be turned on, thereby lowering the level of the input end of the switch driving module 300, so that the switch driving module 300 drives the motor 700 to stop working, thereby achieving the purpose of timely shutting down when the motor 700 is overcurrent. Such a design can effectively protect the motor 700 and extend the service life of the motor 700.

[0060] In some embodiments, the first switch tube Q1 may be an NPN transistor.

[0061] In some embodiments, in combination Figure 6 As shown, the push-pull driving unit 310 includes a third resistor R3, a fourth resistor R4, a fifth resistor R5, a sixth resistor R6, a seventh resistor R7, a second switch tube Q2, a third switch tube Q3, a fourth switch tube Q4 and a fifth switch tube Q5, the control end of the second switch tube Q2 and the first end of the third resistor R3 are commonly connected to the main control module 100, the first end of the second switch tube Q2 is connected to the first end of the fourth resistor R4, the second end of the second switch tube Q2 and the second end of the third resistor R3 are grounded, the second end of the fourth resistor R4 and the first end of the fifth resistor R5 are commonly connected to the third switch tube Q2. The control end of the third switch tube Q3, the first end of the fourth switch tube Q4 and the second end of the fifth resistor R5 are connected to the first power supply terminal V12V, the second end of the third switch tube Q3, the first end of the sixth resistor R6 and the first end of the seventh resistor R7 are connected to each other, the second end of the sixth resistor R6 is grounded, the second end of the seventh resistor R7, the control end of the fourth switch tube Q4 and the control end of the fifth switch tube Q5 are connected to each other, the second end of the fourth switch tube Q4 and the first end of the fifth switch tube Q5 are connected to the motor switch unit 320, and the second end of the fifth switch tube Q5 is grounded.

[0062] In this embodiment, the second switch tube Q2 and the third switch tube Q3 form a multi-stage level conversion circuit, and the fourth switch tube Q4 and the fifth switch tube Q5 form a push-pull circuit, which improves the driving ability. When the pulse width modulation signal input by the main control module 100 through the current limiting resistor R0 is a high level, and the input end of the signal feedback module 200 is a low-level voltage feedback signal, the second switch tube Q2, the third switch tube Q3 and the fourth switch tube Q4 are turned on in sequence, thereby driving the motor switch unit 320 to turn on, and realizing the driving of the motor 700. When the input end of the signal feedback module 200 is a low-level voltage feedback signal, the main control module 100 outputs a pulse width modulation signal to the push-pull drive unit 310, and controls the switching frequency of the motor switch unit 320 by controlling the duty cycle of the pulse width modulation signal, so as to achieve the purpose of adjusting the working state of the motor 700.

[0063] In some embodiments, the second switch tube Q2 is an NPN transistor.

[0064] In some embodiments, the third switch tube Q3 is a PNP transistor.

[0065] In some embodiments, the fourth switch tube Q4 is an NPN transistor.

[0066] In some embodiments, the fifth switch tube Q5 is a PNP transistor.

[0067] In some embodiments, in combination Figure 6As shown, the motor switch unit 320 includes an eighth resistor R8, a ninth resistor R9 and a sixth switch tube Q6, the first end of the eighth resistor R8 is connected to the push-pull drive unit 310, the second end of the eighth resistor R8, the first end of the ninth resistor R9 and the control end of the sixth switch tube Q6 are connected in common, the first end of the sixth switch tube Q6 is connected to the negative pole of the motor 700, the second end of the sixth switch tube Q6 and the second end of the ninth resistor R9 are connected in common, and are grounded via the current sampling unit 410.

[0068] In this embodiment, the eighth resistor R8, the ninth resistor R9 and the sixth switch tube Q6 form a switch circuit, which is controlled by the push-pull driving unit 310 and adjusts the working state of the motor 700 by continuously alternating on and off.

[0069] In some embodiments, the sixth switch tube Q6 may be a field effect transistor.

[0070] In some embodiments, in combination Figure 6 As shown, the current sampling unit 410 includes a tenth resistor R10 , and both ends of the tenth resistor R10 are connected to the operational amplifier unit 420 .

[0071] In some embodiments, in combination Figure 6 As shown, the operational amplifier unit 420 includes an eleventh resistor R11, a twelfth resistor R12, a thirteenth resistor R13, a fourteenth resistor R14, and an operational amplifier chip U1. The first end of the eleventh resistor R11 is connected to the first end of the current sampling unit 410, the first end of the twelfth resistor R12 is connected to the second end of the current sampling unit 410, the second end of the eleventh resistor R11 and the first end of the thirteenth resistor R13 are commonly connected to the non-inverting pin + of the operational amplifier chip U1, the second end of the thirteenth resistor R13 is connected to the second power supply terminal V2, the second end of the twelfth resistor R12 and the first end of the fourteenth resistor R14 are commonly connected to the inverting pin - of the operational amplifier chip U1, and the second end of the fourteenth resistor R14 and the output pin of the operational amplifier chip U1 are commonly connected to the filter module 820.

[0072] In this embodiment, the eleventh resistor R11, the twelfth resistor R12, the thirteenth resistor R13, the fourteenth resistor R14, and the operational amplifier chip U1 form a negative feedback operational amplifier circuit, which can amplify the input voltage signal.

[0073] In some embodiments, the voltage of the second power supply terminal V2 can be 1.25V, and the ratio of the fourteenth resistor R14 to the twelfth resistor R12 can be 10, then the output voltage Vout of the operational amplifier chip U1 is 1.25V+10*Vin, where Vin is the voltage of the common node of the tenth resistor R10 and the sixth switch tube Q6.

[0074] In some embodiments, in combination Figure 6 As shown, the filtering module 820 includes a fifteenth resistor R15 and a first capacitor C1, the first end of the fifteenth resistor R15 is connected to the operational amplifier unit 420, the second end of the fifteenth resistor R15 and the first end of the first capacitor C1 are connected to the voltage divider diode module 810, and the second end of the first capacitor C1 is grounded.

[0075] In this embodiment, the fifteenth resistor R15 and the first capacitor C1 form an RC circuit, and the RC circuit performs filtering processing on the voltage signal output by the operational amplifier unit 420 .

[0076] In some embodiments, the voltage divider diode module 810 may include multiple diodes, which are connected in series or in parallel. The multiple diodes form a unidirectional conduction resistance, so that the current output by the filter module 820 flows to the self-locking module 500, while the current of the self-locking module 500 cannot flow to the filter module 820.

[0077] In some embodiments, the voltage divider diode module 810 may include a first diode D1 and a second diode D2, wherein the anode of the first diode D1 is connected to the filter module 820, the cathode of the first diode D1 is connected to the anode of the second diode D2, and the cathode of the second diode D2 is connected to the self-locking module 500.

[0078] In some embodiments, in combination Figure 6 As shown, the first switch unit 510 includes a sixteenth resistor R16, a seventeenth resistor C2, a second capacitor C2 and a seventh switch tube Q7, a first end of the sixteenth resistor R16 is connected to the voltage divider diode module 810, a second end of the sixteenth resistor R16, a first end of the second capacitor C2 and a first end of the seventeenth resistor 17 are commonly connected to the control end of the seventh switch tube Q7, a first end of the seventh switch tube Q7 is connected to the control end of the second switch unit 520, a second end of the second capacitor C2, a second end of the seventeenth resistor 17 and a second end of the seventh switch tube Q7 are commonly connected to the ground.

[0079] In some embodiments, in combination Figure 6 As shown, the second switch unit 520 includes an eighteenth resistor R18, a third capacitor C3, a nineteenth resistor R19, and an eighth switch tube Q8. The first end of the eighteenth resistor R18 is connected to the first switch unit 510, the second end of the eighteenth resistor R18, the first end of the third capacitor C3, the first end of the nineteenth resistor R19, and the control end of the eighth switch tube Q8 are connected in common, the first end of the eighth switch tube Q8, the first end of the nineteenth resistor R19, and the first end of the third capacitor C3 are connected in common to the motor reset module 600, and the second end of the eighth switch tube Q8 is connected to the self-locking loop unit 530.

[0080] In some embodiments, in combination Figure 6As shown, the self-locking loop unit 530 includes a third diode D3 , an anode of the third diode D3 is connected to the second switch unit 520 , and a cathode of the third diode D3 is connected to the control end of the first switch unit 510 .

[0081] In this embodiment, the first switch unit 510, the second switch unit 520 and the self-locking loop unit 530 form a self-locking circuit, which is powered by the second power supply terminal SW_V3.3V. The preset voltage range can be 0V-2.1V. When the voltage of the operational amplification signal output by the operational amplifier unit 420 is greater than 2.1V, the first switch unit 510 and the second switch unit 520 are turned on in sequence, and the current of the second power supply terminal SW_V3.3V returns to the eighth switch tube Q8 via the motor reset module 600, the eighth switch tube Q8, the third diode D3, the sixteenth resistor R16, and the seventh switch tube Q7 in sequence, thereby forming a self-locking loop, and sending a voltage feedback signal to the signal feedback module 200 via the signal feedback terminal OCP of the self-locking module 500.

[0082] In some embodiments, in combination Figure 6 As shown, the motor reset module 600 includes a ninth switch tube Q9, a twenty-first resistor R21, and a twentieth resistor R20. The first end of the ninth switch tube Q9 is connected to the second switch unit 520, the second end of the ninth switch tube Q9 and the first end of the twenty-first resistor R21 are connected to the second power supply end SW_V3.3V, the control end of the ninth switch tube Q9 and the second end of the twenty-first resistor R21 are connected to the first end of the twentieth resistor R20, and the second end of the twentieth resistor R20 is connected to the main control module 100.

[0083] In this embodiment, when the reset terminal OCP_RST of the main control module 100 inputs a high level, the ninth switch tube Q9 is turned off, the second power supply terminal SW_V3.3V cannot supply power to the second switch unit 520, the self-locking of the self-locking module 500 is released, and the motor 700 can be reset.

[0084] An embodiment of the present application also provides a motor overcurrent protection self-locking device, and the motor overcurrent protection self-locking device includes a motor overcurrent protection self-locking circuit as described in any one of the above embodiments.

[0085] An embodiment of the present application further provides a robot, the robot comprising: a motor 700, and a motor overcurrent protection self-locking circuit as in any one of the above embodiments.

[0086] In this embodiment, the overcurrent protection design scheme in this embodiment has the characteristics of few components, low cost, high reliability, fast response speed, etc., and has certain design flexibility. When the current of the motor 700 is too large, the OCP part in the self-locking module 500 will output a high level and feedback to the feedback circuit module, so that the motor 700 stops working, and when a large current is generated, the OCP part can form a self-locking so as to continuously output a high level in the circuit feedback module, so that the motor 700 stops working to protect the motor 700, thereby avoiding the motor 700 from continuously working under high load and heating, affecting the service life of the motor 700. This scheme effectively protects the motor 700 and extends the service life of the motor 700.

[0087] The beneficial effects of the embodiments of the present application are as follows: a switch driving module generates a motor driving signal according to a pulse width modulation signal to drive the motor to work; an operational amplifier module samples the current flowing through the motor, and amplifies the current sampling signal to obtain a corresponding operational amplifier signal; a self-locking module generates a corresponding voltage feedback signal when the voltage of the operational amplifier signal exceeds a preset voltage range, and self-locks according to the voltage feedback signal; a motor reset module controls the self-locking release of the self-locking module according to a reset control signal to reset the motor, thereby enabling the motor to stop working when the current is too large, thereby achieving the purpose of protecting the motor, reducing the risk of the motor facing high current conditions, and improving the stability and reliability of the robot.

[0088] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0089] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A motor overcurrent protection self-locking circuit, characterized in that: The motor overcurrent protection self-locking circuit comprises: Main control module, used to provide pulse width modulation signal A signal feedback module, connected to the main control module, for receiving a voltage feedback signal and adjusting the pulse width modulation signal according to the voltage feedback signal; A switch driving module, connected to the main control module, the signal feedback module and the motor, for receiving the pulse width modulation signal and generating a motor driving signal according to the pulse width modulation signal to drive the motor to work; An operational amplifier module, connected to the switch driving module, for sampling the current flowing through the motor and amplifying the current sampling signal to obtain a corresponding operational amplifier signal; A self-locking module, connected to the operational amplifier module and the signal feedback module, configured to receive the operational amplifier signal, generate the corresponding voltage feedback signal when the voltage of the operational amplifier signal exceeds a preset voltage range, and perform self-locking according to the voltage feedback signal; The motor reset module is connected to the self-locking module and the main control module, and is used to receive a reset control signal provided by the main control module, and control the self-locking release of the self-locking module according to the reset control signal to reset the motor.

2. The motor overcurrent protection self-locking circuit according to claim 1, characterized in that: The motor overcurrent protection self-locking circuit comprises: The voltage-dividing diode module is connected between the operational amplifier module and the self-locking module, and is used for performing voltage-dividing processing on the operational amplifier signal and preventing the voltage feedback signal from flowing back into the operational amplifier module.

3. The motor overcurrent protection self-locking circuit according to claim 1, characterized in that: The motor overcurrent protection self-locking circuit comprises: The filtering module is connected between the operational amplifier module and the self-locking module, and is used for filtering the operational amplifier signal.

4. The motor overcurrent protection self-locking circuit according to claim 1, characterized in that: The switch driving module comprises: A push-pull driving unit, connected to the main control module, and configured to generate a push-pull driving signal according to the pulse width modulation signal; A motor switch unit is connected to the motor and the push-pull driving unit, and is used to be turned on or off according to the push-pull driving signal to control the current flowing through the motor.

5. The motor overcurrent protection self-locking circuit according to claim 1, characterized in that: The operational amplifier module comprises: A current sampling unit, connected in series with the motor, for sampling the current flowing through the motor to obtain a current sampling signal; The operational amplifier unit is connected to the current sampling unit and is used to amplify the current sampling signal to obtain a corresponding operational amplified signal.

6. The motor overcurrent protection self-locking circuit according to any one of claims 1 to 5, characterized in that: The motor overcurrent protection self-locking circuit also includes: A freewheeling diode is connected in parallel with the motor, a cathode of the freewheeling diode and a positive electrode of the motor are connected to a first power supply terminal, and an anode of the freewheeling diode and a negative electrode of the motor are connected to the switch driving module.

7. The motor overcurrent protection self-locking circuit according to any one of claims 1 to 5, characterized in that: The self-locking module comprises: A first switch unit, connected to the operational amplifier module, and configured to be turned on when the voltage of the operational amplification signal is within a preset voltage range; a second switch unit, connected to the first switch unit and the second power supply terminal, wherein the switch state of the second switch unit is controlled by the switch state of the first switch unit, and generates the corresponding voltage feedback signal according to the voltage of the second power supply terminal and the conduction state of the first switch unit; The self-locking loop unit is connected between the second switch unit and the first switch unit, and is used to control the first switch unit to remain turned on according to the voltage feedback signal.

8. The motor overcurrent protection self-locking circuit according to claim 7, characterized in that: The control end of the second switch unit is also connected to the main control module, and the main control module is also used to monitor the voltage of the control end of the second switch unit.

9. A motor overcurrent protection self-locking device, characterized in that: The motor overcurrent protection self-locking device comprises a motor overcurrent protection self-locking circuit as described in any one of claims 1 to 8.

10. A robot, characterized in that: The robot comprises: a motor, and a motor overcurrent protection self-locking circuit according to any one of claims 1 to 8.

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