Robot power supply control circuit and robot

Abstract

The invention discloses a robot power supply control circuit and a robot, relates to the technical field of robots, and aims at filtering an input power supply through a filtering module to ensure the quality of electric energy. Power is supplied to the main control system of the robot through the first voltage reduction module, power is supplied to the routing module of the robot through the second voltage reduction module, and the main control system and the routing module are separately and independently supplied with power. Besides, the second voltage reduction module supplies power to the routing module through the connection module, and the key control module is used for controlling the connection or disconnection of the connection module to realize the connection and disconnection of the power supply of the second voltage reduction module and the routing module, so that the robot can be controlled according to a key instruction of manual operation or a key instruction sent by a main control system of the robot; the second step-down module is controlled to supply power to the routing module, so that power is not supplied to the routing module when the routing module does not need to work, and unnecessary consumption of a power supply is reduced.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a robot power supply control circuit and a robot. Background Art

[0002] With the rapid development of robot technology, robots are becoming more and more intelligent, and their application scenarios are becoming more and more complex and diverse. The power supply of robots is an important part of ensuring the normal operation of robots. In this regard, the present application proposes a robot power supply control circuit. Summary of the invention

[0003] The purpose of this application is to provide a robot power supply control circuit and a robot, which can realize stable power supply to the robot main control system and routing module, and ensure the normal operation of the robot.

[0004] To achieve the above objectives, this application provides the following solutions:

[0005] In a first aspect, the present application provides a robot power supply control circuit, the robot power supply control circuit comprising: a power access module, a filter module, a first step-down module, a second step-down module, a connection module and a key control module;

[0006] The power access module is connected to the external power source and is used to access the external power source;

[0007] The filtering module is connected to the power access module, the first step-down module and the second step-down module respectively, and is used to filter the connected external power supply and transmit the filtered electric energy to the first step-down module and the second step-down module;

[0008] The first voltage reduction module is connected to the main control system of the robot, and is used to reduce the voltage of the filtered electric energy and transmit the reduced voltage electric energy to the main control system of the robot;

[0009] The second voltage reduction module is connected to the connection module, and is used to reduce the voltage of the filtered electric energy, and transmit the reduced voltage electric energy to the routing module of the robot through the connection module;

[0010] The key control module is connected to the main control system of the robot, and is used to receive key commands manually operated or received key commands sent by the main control system of the robot, and control the conduction and disconnection of the switch on the path connected to the second step-down module in the connection module according to the key commands;

[0011] The connection module is connected to the robot's routing module and the button control module respectively, and is used to control the transmission of the stepped-down electric energy output by the second step-down module to the robot's routing module according to the on and off of the switch on the path connected to the second step-down module.

[0012] Optionally, the filtering module specifically includes: a first capacitor unit, a second capacitor unit, a third capacitor unit, a first inductor, a first resistor, a second resistor, a third resistor and a magnetic bead unit;

[0013] The first inductor, the first resistor and the second resistor are connected in parallel;

[0014] The magnetic bead unit includes two magnetic beads connected in parallel;

[0015] One end of the first capacitor unit is connected to one end of the first inductor, and the other end of the first capacitor unit is grounded;

[0016] One end of the second capacitor unit is connected to the other end of the first inductor, and the other end of the second capacitor unit is grounded;

[0017] One end of the magnetic bead unit is connected to the other end of the first inductor, and the other end of the magnetic bead unit is respectively connected to one end of the third capacitor unit and one end of the third resistor, and the other end of the third capacitor unit and the other end of the third resistor are both grounded.

[0018] Optionally, the first step-down module specifically includes: a first TCS4284 chip, a fourth capacitor unit, a fifth capacitor unit, a sixth capacitor unit, a fourth resistor, a fifth resistor, a sixth resistor, a first capacitor, a second capacitor and a second inductor;

[0019] One end of the fourth capacitor unit is connected to an end of the third resistor that is not grounded, and one end of the fourth capacitor unit is also connected to a pin IN of the first TCS4284 chip;

[0020] The pin EN of the first TCS4284 chip is connected to one end of the fourth resistor, and the other end of the fourth resistor is grounded;

[0021] The pin SS of the first TCS4284 chip is connected to one end of the first capacitor, and the other end of the first capacitor is grounded; the pin GND of the first TCS4284 chip is grounded;

[0022] The pin SW of the first TCS4284 chip is respectively connected to one end of the second inductor and one end of the second capacitor, and the other end of the second inductor is respectively connected to one end of the fifth resistor and one end of the sixth capacitor; the other end of the second capacitor is connected to the pin BS of the first TCS4284 chip;

[0023] The pin FB of the first TCS4284 chip is connected to the other end of the fifth resistor, the other end of the fifth resistor is also connected to one end of the sixth resistor, and the other end of the sixth resistor is grounded;

[0024] The pin COMP of the first TCS4284 chip is connected to one end of the fifth capacitor unit, and the other end of the fifth capacitor unit is grounded;

[0025] The ungrounded end of the sixth capacitor unit is connected to the main control system of the robot.

[0026] Optionally, the second step-down module specifically includes: a second TCS4284 chip, a seventh capacitor unit, an eighth capacitor unit, a ninth capacitor unit, a third capacitor, a fourth capacitor, a fifth capacitor, a third inductor, a seventh resistor, an eighth resistor, a ninth resistor, a tenth resistor and an eleventh resistor;

[0027] One end of the seventh capacitor unit is connected to the ungrounded end of the third resistor, and one end of the seventh capacitor unit is also connected to the pin IN of the second TCS4284 chip; the other end of the seventh capacitor unit is grounded; one end of the seventh resistor is connected to the ungrounded end of the seventh capacitor unit; the other end of the seventh resistor is respectively connected to the pin EN of the second TCS4284 chip and one end of the third capacitor, and the other end of the third capacitor is grounded;

[0028] The pin SS of the second TCS4284 chip is connected to one end of the fourth capacitor, and the other end of the fourth capacitor is grounded; the pin GND of the second TCS4284 chip is grounded;

[0029] The pin SW of the second TCS4284 chip is respectively connected to one end of the third inductor and one end of the fifth capacitor, the other end of the fifth capacitor is connected to the pin BS of the second TCS4284 chip, the other end of the third inductor is respectively connected to one end of the eighth resistor, one end of the ninth capacitor unit and one end of the tenth resistor, the other end of the ninth capacitor unit is grounded, the other end of the eighth resistor is respectively connected to the pin FB of the second TCS4284 chip and one end of the ninth resistor, the other end of the ninth resistor is grounded, the other end of the tenth resistor is connected to one end of the eleventh resistor, and the other end of the eleventh resistor is connected to the pin IN of the first TCS4284 chip;

[0030] The pin COMP of the second TCS4284 chip is connected to one end of the eighth capacitor unit, and the other end of the eighth capacitor unit is grounded;

[0031] An ungrounded end of the ninth capacitor unit is connected to the connection module.

[0032] Optionally, the connection module specifically includes: a USB chip, a first TVS diode, a second TVS diode, a third TVS diode, a tenth capacitor unit, an eleventh capacitor unit, a MOS tube, a triode, a twelfth resistor, a thirteenth resistor and a fourteenth resistor;

[0033] The pin S1 and the pin S2 of the USB chip are grounded; the pin VBUS of the USB chip is respectively connected to one end of the first TVS diode, one end of the tenth capacitor unit and the drain of the MOS tube; the other end of the first TVS diode is grounded, and the other end of the tenth capacitor unit is grounded; the source of the MOS tube is respectively connected to one end of the twelfth resistor, one end of the eleventh capacitor unit and an ungrounded end of the ninth capacitor unit, and the other end of the eleventh capacitor unit is grounded;

[0034] The other end of the twelfth resistor is respectively connected to the gate of the MOS tube and the collector of the transistor, the emitter of the transistor is grounded, the base of the transistor is respectively connected to one end of the thirteenth resistor and one end of the fourteenth resistor, the other end of the thirteenth resistor is connected to the key control module, and the other end of the fourteenth resistor is grounded;

[0035] The pin D- of the USB chip is respectively connected to the USB interface and one end of the second TVS diode, and the other end of the second TVS diode is grounded;

[0036] The pin D+ of the USB chip is connected to the USB interface and one end of the third TVS diode, and the other end of the third TVS diode is grounded; the USB interface is used to connect to the routing module of the robot;

[0037] A pin GND of the USB chip is grounded.

[0038] Optionally, the button control module specifically includes: a button interface, a physical button, a fourth TVB diode, a fifth TVB diode and a sixth capacitor;

[0039] One end of the physical button, one end of the fourth TVB diode, one end of the fifth TVB diode and one end of the sixth capacitor are all connected to the button interface; the other end of the fourth TVB diode, the other end of the fifth TVB diode and the other end of the sixth capacitor are all grounded;

[0040] The key interface is also connected to the end of the thirteenth resistor that is not connected to the fourteenth resistor;

[0041] The key interface is also connected to the robot's main control system, and is used to receive key instructions of manual operation corresponding to the physical key or receive key instructions sent by the robot's main control system, and control the conduction and shutdown of the MOS tube in the connection module according to the key instructions.

[0042] Optionally, the robot power supply control circuit includes: a protection module; the protection module is arranged between the power access module and the filter module, and is used to perform high voltage protection and anti-backflow protection on the electric energy of the connected external power supply.

[0043] Optionally, the protection module includes: a first diode and a second diode;

[0044] The input end of the first diode is grounded, the output end of the first diode is connected to the power access module and the input end of the second diode respectively, and the output of the second diode is connected to an ungrounded end of the first capacitor unit.

[0045] In a second aspect, the present application provides a robot, comprising: a robot power supply control circuit as described in any one of the above.

[0046] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0047] The present application provides a robot power supply control circuit and a robot, which filters the input power supply through a filter module to ensure the quality of electric energy. The robot's main control system is powered by a first step-down module, and the robot's routing module is powered by a second step-down module, so that the main control system and the routing module are powered separately and independently. In addition, the second step-down module supplies power to the routing module through the connection module, and the connection of the connection module is controlled by the key control module to achieve the connection and interruption of the power supply between the second step-down module and the routing module. Therefore, the second step-down module can be controlled to supply power to the routing module according to the key instructions of manual operation or the key instructions sent by the main control system of the robot, so that the routing module is not powered during the period when the routing module does not need to work, thereby reducing unnecessary power consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0049] Figure 1 A schematic diagram of the structure of a robot power supply control circuit provided in Example 1 of the present application;

[0050] Figure 2 A schematic diagram of the structure of the filter module provided in Example 1 of the present application;

[0051] Figure 3 A schematic diagram of the structure of the first step-down module provided in Example 1 of the present application;

[0052] Figure 4 A schematic diagram of the structure of the second step-down module provided in Example 1 of the present application;

[0053] Figure 5 A schematic diagram of the structure of the connection module provided in Example 1 of the present application;

[0054] Figure 6 A schematic diagram of the structure of the USB interface provided in Example 1 of the present application;

[0055] Figure 7 This is a schematic diagram of the structure of the key control module provided in Example 1 of the present application. DETAILED DESCRIPTION

[0056] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0057] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0058] Example 1

[0059] This embodiment provides a robot power supply control circuit, such as Figure 1 As shown, the robot power supply control circuit includes: a power access module, a filter module, a first voltage reduction module, a second voltage reduction module, a connection module and a button control module.

[0060] The power access module (corresponding to Figure 2 J1 in the figure is connected to an external power source and is used to access an external power source.

[0061] The filtering module is connected to the power access module, the first step-down module and the second step-down module respectively, and is used to filter the connected external power supply and transmit the filtered electric energy to the first step-down module and the second step-down module.

[0062] The first voltage reduction module is connected to the main control system of the robot, and is used for reducing the voltage of the filtered electric energy and transmitting the reduced voltage electric energy to the main control system of the robot.

[0063] The second voltage reduction module is connected to the connection module, and is used for reducing the voltage of the filtered electric energy, and transmitting the reduced voltage electric energy to the routing module of the robot through the connection module.

[0064] The key control module is connected to the main control system of the robot, and is used to receive key instructions of manual operation or key instructions sent by the main control system of the robot, and control the conduction and disconnection of the switch on the path connected to the second step-down module in the connection module according to the key instructions.

[0065] The connection module is connected to the robot's routing module and the button control module respectively, and is used to control the transmission of the stepped-down electric energy output by the second step-down module to the robot's routing module according to the on and off of the switch on the path connected to the second step-down module.

[0066] As an optional implementation, the filtering module specifically includes: a first capacitor unit, a second capacitor unit, a third capacitor unit, a first inductor (corresponding to Figure 2 L1 in), the first resistor (corresponding to Figure 2 R1 in), the second resistor (corresponding to Figure 2 R2 in), the third resistor (corresponding to Figure 2 R20 in) and magnetic bead unit.

[0067] The first capacitor unit includes Figure 2 The capacitor C1, capacitor C2, capacitor C18 and capacitor C2 in the second capacitor unit include Figure 2 The capacitor C21 in the third capacitor unit includes Figure 2 Capacitor EC1 in.

[0068] The first inductor, the first resistor and the second resistor are connected in parallel.

[0069] The magnetic bead unit includes two magnetic beads connected in parallel (corresponding to Figure 2 FB1 and FB2 in ).

[0070] One end of the first capacitor unit is connected to one end of the first inductor, and the other end of the first capacitor unit is grounded.

[0071] One end of the second capacitor unit is connected to the other end of the first inductor, and the other end of the second capacitor unit is grounded.

[0072] One end of the magnetic bead unit is connected to the other end of the first inductor, and the other end of the magnetic bead unit is respectively connected to one end of the third capacitor unit and one end of the third resistor, and the other end of the third capacitor unit and the other end of the third resistor are both grounded.

[0073] As an optional implementation, the first step-down module specifically includes: a first TCS4284 chip (corresponding to Figure 3 U11 in the figure), the fourth capacitor unit, the fifth capacitor unit, the sixth capacitor unit, the fourth resistor (corresponding to Figure 3 R12 in), the fifth resistor (corresponding to Figure 3 R105 in), the sixth resistor (corresponding to Figure 3 R153 in), the first capacitor (corresponding to Figure 3 C110 in), the second capacitor (corresponding to Figure 3 C108 in) and the second inductor (corresponding to Figure 3 in L5).

[0074] The fourth capacitor unit includes Figure 3 Capacitor C109, capacitor C140 and capacitor C141.

[0075] The fifth capacitor unit includes Figure 3 Capacitor C150, capacitor C148 and resistor R145.

[0076] The sixth capacitor unit includes Figure 3 Capacitor C131, capacitor C137, capacitor C142 and capacitor C143.

[0077] One end of the fourth capacitor unit is connected to an end of the third resistor that is not grounded, and one end of the fourth capacitor unit is also connected to a pin IN of the first TCS4284 chip.

[0078] A pin EN of the first TCS4284 chip is connected to one end of the fourth resistor, and the other end of the fourth resistor is grounded.

[0079] The pin SS of the first TCS4284 chip is connected to one end of the first capacitor, and the other end of the first capacitor is grounded; the pin GND of the first TCS4284 chip is grounded.

[0080] The pin SW of the first TCS4284 chip is respectively connected to one end of the second inductor and one end of the second capacitor, and the other end of the second inductor is respectively connected to one end of the fifth resistor and one end of the sixth capacitor; the other end of the second capacitor is connected to the pin BS of the first TCS4284 chip.

[0081] The pin FB of the first TCS4284 chip is connected to the other end of the fifth resistor, the other end of the fifth resistor is also connected to one end of the sixth resistor, and the other end of the sixth resistor is grounded.

[0082] A pin COMP of the first TCS4284 chip is connected to one end of the fifth capacitor unit, and the other end of the fifth capacitor unit is grounded.

[0083] The ungrounded end of the sixth capacitor unit is connected to the main control system of the robot. Figure 3 The interface CON2 in the circuit is connected to the robot main control system, thereby realizing the communication between the first step-down module and the robot main control system.

[0084] As an optional implementation, the second step-down module specifically includes: a second TCS4284 chip (corresponding to Figure 4 U1 in the figure), the seventh capacitor unit, the eighth capacitor unit, the ninth capacitor unit, the third capacitor (corresponding to Figure 4 C26 in), the fourth capacitor (corresponding to Figure 4 C13 in), the fifth capacitor (corresponding to Figure 4 C3 in), the third inductor (corresponding to Figure 4 L3 in), the seventh resistor (corresponding to Figure 4 R5 in), the eighth resistor (corresponding to Figure 4 R6 in), the ninth resistor (corresponding to Figure 4 R9 in), the tenth resistor (corresponding to Figure 4 R18 in) and the eleventh resistor (corresponding to Figure 3 R26 in ).

[0085] The seventh capacitor unit includes Figure 4 Capacitor C5, capacitor C6 and capacitor C7.

[0086] The eighth capacitor unit includes Figure 4 Capacitor C14, capacitor C12 and resistor R8.

[0087] The ninth capacitor unit includes Figure 4 Capacitor C8, capacitor C9, capacitor C10 and capacitor C11.

[0088] One end of the seventh capacitor unit is connected to the ungrounded end of the third resistor, and one end of the seventh capacitor unit is also connected to pin IN of the second TCS4284 chip; the other end of the seventh capacitor unit is grounded; one end of the seventh resistor is connected to the ungrounded end of the seventh capacitor unit; the other end of the seventh resistor is respectively connected to pin EN of the second TCS4284 chip and one end of the third capacitor, and the other end of the third capacitor is grounded.

[0089] The pin SS of the second TCS4284 chip is connected to one end of the fourth capacitor, and the other end of the fourth capacitor is grounded; the pin GND of the second TCS4284 chip is grounded.

[0090] The pin SW of the second TCS4284 chip is respectively connected to one end of the third inductor and one end of the fifth capacitor, the other end of the fifth capacitor is connected to the pin BS of the second TCS4284 chip, the other end of the third inductor is respectively connected to one end of the eighth resistor, one end of the ninth capacitor unit and one end of the tenth resistor, the other end of the ninth capacitor unit is grounded, the other end of the eighth resistor is respectively connected to the pin FB of the second TCS4284 chip and one end of the ninth resistor, the other end of the ninth resistor is grounded, the other end of the tenth resistor is connected to one end of the eleventh resistor, and the other end of the eleventh resistor is connected to the pin IN of the first TCS4284 chip.

[0091] A pin COMP of the second TCS4284 chip is connected to one end of the eighth capacitor unit, and the other end of the eighth capacitor unit is grounded.

[0092] An ungrounded end of the ninth capacitor unit is connected to the connection module.

[0093] As an optional implementation, the connection module specifically includes: a USB chip (corresponding to Figure 5 USB-0036 in), the first TVS diode (corresponding to Figure 5 ESD1 in), the second TVS diode (corresponding to Figure 5 ESD4 in), the third TVS diode (corresponding to Figure 5 ESD5 in), the tenth capacitor unit, the eleventh capacitor unit, the MOS tube (corresponding to Figure 5 Q3 in), transistor (corresponding to Figure 5 Q4 in), the twelfth resistor (corresponding to Figure 5 R10 in), the thirteenth resistor (corresponding to Figure 5 R3 in) and the fourteenth resistor (corresponding to Figure 5 R7 in ).

[0094] The tenth capacitor unit includes Figure 5 The eleventh capacitor unit includes capacitor C15 and capacitor C2. Figure 5 Capacitor EC2 in.

[0095] Pins S1 and S2 of the USB chip are grounded; pin VBUS of the USB chip is respectively connected to one end of the first TVS diode, one end of the tenth capacitor unit and the drain of the MOS tube; the other end of the first TVS diode is grounded, and the other end of the tenth capacitor unit is grounded; the source of the MOS tube is respectively connected to one end of the twelfth resistor, one end of the eleventh capacitor unit and an ungrounded end of the ninth capacitor unit, and the other end of the eleventh capacitor unit is grounded.

[0096] The other end of the twelfth resistor is respectively connected to the gate of the MOS tube and the collector of the transistor, the emitter of the transistor is grounded, the base of the transistor is respectively connected to one end of the thirteenth resistor and one end of the fourteenth resistor, the other end of the thirteenth resistor is connected to the key control module, and the other end of the fourteenth resistor is grounded.

[0097] The pin D- of the USB chip is respectively connected to the USB interface and one end of the second TVS diode, and the other end of the second TVS diode is grounded.

[0098] The pin D+ of the USB chip is connected to the USB interface and one end of the third TVS diode, and the other end of the third TVS diode is grounded; the USB interface is used to connect the routing module of the robot; the pin GND of the USB chip is grounded. Figure 6 As shown in the figure, a schematic diagram of the structure of the USB interface is given. The USB interface corresponds to Figure 6 CON3 in. Figure 6 The pins "USB-DP-P0" and "USB-DM-P0" are Figure 5 The pins "USB-DP-P0" and "USB-DM-P0" of the USB chip are connected correspondingly, thereby realizing the connection module and the routing module through the USB interface.

[0099] As an optional implementation, the key control module specifically includes: a key interface (corresponding to Figure 7 CON1 in), physical buttons (corresponding to Figure 7 K1 in), the fourth TVB diode (corresponding to Figure 7 ESD2 in), the fifth TVB diode (corresponding to Figure 7 ESD3 in) and the sixth capacitor (corresponding to Figure 7 in C17). Figure 7 The "SW" in the key indicates the meaning of the key.

[0100] One end of the physical button, one end of the fourth TVB diode, one end of the fifth TVB diode and one end of the sixth capacitor are all connected to the button interface; the other end of the fourth TVB diode, the other end of the fifth TVB diode and the other end of the sixth capacitor are all grounded.

[0101] The key interface is also connected to the end of the thirteenth resistor that is not connected to the fourteenth resistor.

[0102] The key interface is also connected to the robot's main control system, and is used to receive key instructions of manual operation corresponding to the physical key or receive key instructions sent by the robot's main control system, and control the conduction and shutdown of the MOS tube in the connection module according to the key instructions.

[0103] Figure 7 Pin "KEY-B" in Figure 5 The physical key K1 can be manually manipulated to turn on or off the key interface CON1 through the "KEY-B". Figure 5 The MOS tube in the robot realizes the connection and disconnection between the connection module and the second buck module, thereby controlling whether the second buck module supplies power to the routing module. Figure 5 The MOS tube in the circuit is turned off, and the second step-down module is turned off to supply power to the routing module, thereby reducing power consumption. In addition, the main control system can set a timing, and automatically send control instructions during the working period to achieve Figure 5 The MOS tube in the circuit is turned on to realize the second step-down module to supply power to the routing module, and in the non-working period, the control command is automatically sent to realize Figure 5 The MOS tube in the circuit is turned off, and the second step-down module is turned off to supply power to the routing module, thereby reducing power consumption.

[0104] As an optional implementation, the robot power supply control circuit includes: a protection module; the protection module is arranged between the power access module and the filter module, and is used to perform high voltage protection and anti-backflow protection on the electric energy of the connected external power supply.

[0105] As an optional implementation, the protection module includes: a first diode (corresponding to Figure 2 D1 in) and the second diode (corresponding to Figure 2 D2 in ).

[0106] The input end of the first diode is grounded, the output end of the first diode is connected to the power access module and the input end of the second diode respectively, and the output of the second diode is connected to an ungrounded end of the first capacitor unit.

[0107] In the present application, a first step-down module and a second step-down module are set up to independently power the robot main control system and the routing module respectively. In addition, a connection module and a button control module are set up to flexibly control the second step-down module to power the routing module. This can provide power during the working period and not provide power during the non-working period, thereby reducing power consumption.

[0108] Example 2

[0109] This embodiment provides a robot, and the robot includes: the robot power supply control circuit described in Embodiment 1.

[0110] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0111] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A robot power supply control circuit, characterized in that: The robot power supply control circuit includes: a power access module, a filter module, a first voltage reduction module, a second voltage reduction module, a connection module and a key control module; The power access module is connected to the external power source and is used to access the external power source; The filtering module is connected to the power access module, the first step-down module and the second step-down module respectively, and is used to filter the connected external power supply and transmit the filtered electric energy to the first step-down module and the second step-down module; The first voltage reduction module is connected to the main control system of the robot, and is used to reduce the voltage of the filtered electric energy and transmit the reduced voltage electric energy to the main control system of the robot; The second voltage reduction module is connected to the connection module, and is used to reduce the voltage of the filtered electric energy, and transmit the reduced voltage electric energy to the routing module of the robot through the connection module; The key control module is connected to the main control system of the robot, and is used to receive key commands manually operated or received key commands sent by the main control system of the robot, and control the conduction and disconnection of the switch on the path connected to the second step-down module in the connection module according to the key commands; The connection module is connected to the robot's routing module and the button control module respectively, and is used to control the transmission of the stepped-down electric energy output by the second step-down module to the robot's routing module according to the on and off of the switch on the path connected to the second step-down module.

2. The robot power supply control circuit according to claim 1, characterized in that: The filtering module specifically includes: a first capacitor unit, a second capacitor unit, a third capacitor unit, a first inductor, a first resistor, a second resistor, a third resistor and a magnetic bead unit; The first inductor, the first resistor and the second resistor are connected in parallel; The magnetic bead unit includes two magnetic beads connected in parallel; One end of the first capacitor unit is connected to one end of the first inductor, and the other end of the first capacitor unit is grounded; One end of the second capacitor unit is connected to the other end of the first inductor, and the other end of the second capacitor unit is grounded; One end of the magnetic bead unit is connected to the other end of the first inductor, and the other end of the magnetic bead unit is respectively connected to one end of the third capacitor unit and one end of the third resistor, and the other end of the third capacitor unit and the other end of the third resistor are both grounded.

3. The robot power supply control circuit according to claim 2, characterized in that: The first step-down module specifically includes: a first TCS4284 chip, a fourth capacitor unit, a fifth capacitor unit, a sixth capacitor unit, a fourth resistor, a fifth resistor, a sixth resistor, a first capacitor, a second capacitor and a second inductor; One end of the fourth capacitor unit is connected to an end of the third resistor that is not grounded, and one end of the fourth capacitor unit is also connected to a pin IN of the first TCS4284 chip; The pin EN of the first TCS4284 chip is connected to one end of the fourth resistor, and the other end of the fourth resistor is grounded; The pin SS of the first TCS4284 chip is connected to one end of the first capacitor, and the other end of the first capacitor is grounded; the pin GND of the first TCS4284 chip is grounded; The pin SW of the first TCS4284 chip is respectively connected to one end of the second inductor and one end of the second capacitor, and the other end of the second inductor is respectively connected to one end of the fifth resistor and one end of the sixth capacitor; the other end of the second capacitor is connected to the pin BS of the first TCS4284 chip; The pin FB of the first TCS4284 chip is connected to the other end of the fifth resistor, the other end of the fifth resistor is also connected to one end of the sixth resistor, and the other end of the sixth resistor is grounded; The pin COMP of the first TCS4284 chip is connected to one end of the fifth capacitor unit, and the other end of the fifth capacitor unit is grounded; The ungrounded end of the sixth capacitor unit is connected to the main control system of the robot.

4. The robot power supply control circuit according to claim 3, characterized in that: The second step-down module specifically includes: a second TCS4284 chip, a seventh capacitor unit, an eighth capacitor unit, a ninth capacitor unit, a third capacitor, a fourth capacitor, a fifth capacitor, a third inductor, a seventh resistor, an eighth resistor, a ninth resistor, a tenth resistor and an eleventh resistor; One end of the seventh capacitor unit is connected to the ungrounded end of the third resistor, and one end of the seventh capacitor unit is also connected to the pin IN of the second TCS4284 chip; the other end of the seventh capacitor unit is grounded; one end of the seventh resistor is connected to the ungrounded end of the seventh capacitor unit; the other end of the seventh resistor is respectively connected to the pin EN of the second TCS4284 chip and one end of the third capacitor, and the other end of the third capacitor is grounded; The pin SS of the second TCS4284 chip is connected to one end of the fourth capacitor, and the other end of the fourth capacitor is grounded; the pin GND of the second TCS4284 chip is grounded; The pin SW of the second TCS4284 chip is respectively connected to one end of the third inductor and one end of the fifth capacitor, the other end of the fifth capacitor is connected to the pin BS of the second TCS4284 chip, the other end of the third inductor is respectively connected to one end of the eighth resistor, one end of the ninth capacitor unit and one end of the tenth resistor, the other end of the ninth capacitor unit is grounded, the other end of the eighth resistor is respectively connected to the pin FB of the second TCS4284 chip and one end of the ninth resistor, the other end of the ninth resistor is grounded, the other end of the tenth resistor is connected to one end of the eleventh resistor, and the other end of the eleventh resistor is connected to the pin IN of the first TCS4284 chip; The pin COMP of the second TCS4284 chip is connected to one end of the eighth capacitor unit, and the other end of the eighth capacitor unit is grounded; An ungrounded end of the ninth capacitor unit is connected to the connection module.

5. The robot power supply control circuit according to claim 4, characterized in that: The connection module specifically includes: a USB chip, a first TVS diode, a second TVS diode, a third TVS diode, a tenth capacitor unit, an eleventh capacitor unit, a MOS tube, a triode, a twelfth resistor, a thirteenth resistor and a fourteenth resistor; The pin S1 and the pin S2 of the USB chip are grounded; the pin VBUS of the USB chip is respectively connected to one end of the first TVS diode, one end of the tenth capacitor unit and the drain of the MOS tube; the other end of the first TVS diode is grounded, and the other end of the tenth capacitor unit is grounded; the source of the MOS tube is respectively connected to one end of the twelfth resistor, one end of the eleventh capacitor unit and an ungrounded end of the ninth capacitor unit, and the other end of the eleventh capacitor unit is grounded; The other end of the twelfth resistor is respectively connected to the gate of the MOS tube and the collector of the transistor, the emitter of the transistor is grounded, the base of the transistor is respectively connected to one end of the thirteenth resistor and one end of the fourteenth resistor, the other end of the thirteenth resistor is connected to the key control module, and the other end of the fourteenth resistor is grounded; The pin D- of the USB chip is respectively connected to the USB interface and one end of the second TVS diode, and the other end of the second TVS diode is grounded; The pin D+ of the USB chip is connected to the USB interface and one end of the third TVS diode, and the other end of the third TVS diode is grounded; the USB interface is used to connect to the routing module of the robot; A pin GND of the USB chip is grounded.

6. The robot power supply control circuit according to claim 1, characterized in that: The key control module specifically includes: a key interface, a physical key, a fourth TVB diode, a fifth TVB diode and a sixth capacitor; One end of the physical button, one end of the fourth TVB diode, one end of the fifth TVB diode and one end of the sixth capacitor are all connected to the button interface; the other end of the fourth TVB diode, the other end of the fifth TVB diode and the other end of the sixth capacitor are all grounded; The key interface is also connected to the end of the thirteenth resistor that is not connected to the fourteenth resistor; The key interface is also connected to the robot's main control system, and is used to receive key instructions of manual operation corresponding to the physical key or receive key instructions sent by the robot's main control system, and control the conduction and shutdown of the MOS tube in the connection module according to the key instructions.

7. The robot power supply control circuit according to claim 6, characterized in that: The robot power supply control circuit includes: a protection module; the protection module is arranged between the power access module and the filter module, and is used to perform high voltage protection and anti-backflow protection on the electric energy of the connected external power supply.

8. The robot power supply control circuit according to claim 7, characterized in that: The protection module includes: a first diode and a second diode; The input end of the first diode is grounded, the output end of the first diode is connected to the power access module and the input end of the second diode respectively, and the output of the second diode is connected to an ungrounded end of the first capacitor unit.

9. A robot, characterized in that: The robot comprises: the robot power supply control circuit according to any one of claims 1 to 8.

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