Voltage protection circuit for exoskeleton

Abstract

The invention relates to a voltage protection circuit for an exoskeleton, belongs to the technical field of exoskeleton safety protection, and solves the problem that the exoskeleton in the prior art is unsafe due to violent bus voltage change under different working conditions. The voltage protection circuit comprises a bus voltage detection circuit used for receiving the bus voltage of the exoskeleton; the emergency bleeder circuit is used for comparing the received bus voltage with a dangerous voltage upper limit threshold to obtain a first comparison result; the discharge buffer comparison circuit is used for comparing the received bus voltage with an adjustable voltage threshold value to obtain a second comparison result; the logic OR gate is used for determining a bleeder control signal according to the first comparison result and the second comparison result and outputting the bleeder control signal to the bleeder circuit; and the bleeder circuit is used for adjusting the bus voltage according to the bleeder control signal. And safe work of the exoskeleton under different working conditions is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of exoskeleton safety protection, and particularly to a voltage protection circuit for an exoskeleton. BACKGROUND

[0002] Exoskeletons are used to enhance human movement functions and are usually designed to be worn on the outside of the human body to assist in performing various tasks, and have been widely used in the medical, rehabilitation and industrial fields, improving work efficiency.

[0003] For motor-driven assistive exoskeleton robots, especially in motion scenarios with negative power, motor back electromotive force can cause instantaneous charging, which in turn causes the exoskeleton bus voltage to rise, threatening the stability and durability of the exoskeleton.

[0004] The overvoltage protection circuit set for the bus voltage in the prior art has a contradiction in threshold setting. Too low may cause frequent discharge and energy loss, while too high may cause overvoltage under conditions such as continuous feedback of electrical energy on a downhill, leading to unsafe operation of the exoskeleton. SUMMARY

[0005] In view of the above analysis, the embodiments of the present application aim to provide a voltage protection circuit for an exoskeleton to solve the problem of the exoskeleton in the prior art leading to a dramatic change in bus voltage under different working conditions, resulting in insecurity.

[0006] The embodiments of the present application provide a voltage protection circuit for an exoskeleton, which comprises:

[0007] A bus voltage detection circuit for receiving the bus voltage of the exoskeleton;

[0008] An emergency discharge circuit for comparing the received bus voltage with an upper threshold of a dangerous voltage to obtain a first comparison result;

[0009] A discharge buffer comparison circuit for comparing the received bus voltage with an adjustable voltage threshold to obtain a second comparison result; wherein the adjustable voltage threshold is determined based on the voltage increase of the bus voltage in a historical time period;

[0010] A logic OR gate for determining a discharge control signal according to the first comparison result and the second comparison result, and outputting the discharge control signal to the discharge circuit;

[0011] A discharge circuit for adjusting the bus voltage according to the discharge control signal.

[0012] Based on the further improvement of the above-mentioned voltage protection circuit, the voltage protection circuit further comprises a discharge threshold voltage self-adjusting circuit;

[0013] The input end of the bleed threshold voltage self-adjusting circuit is connected to the output end of the bus voltage detection circuit, for receiving the bus voltage;

[0014] The bleed threshold voltage self-adjusting circuit determines the adjustable voltage threshold according to the voltage increase of the bus voltage in the historical time period;

[0015] The output end of the bleed threshold voltage self-adjusting circuit is connected to the negative input end of the bleed buffer comparison circuit, for outputting the adjustable voltage threshold; the positive input end of the bleed buffer comparison circuit is connected to the output end of the bus voltage detection circuit, for receiving the bus voltage.

[0016] Based on the further improvement of the above-mentioned voltage protection circuit, the bleed threshold voltage self-adjusting circuit comprises an integral circuit and a threshold adjusting circuit;

[0017] The input end of the integral circuit is connected to the output end of the bus voltage detection circuit, for receiving the bus voltage; the integral circuit integrates the voltage of the bus voltage in the historical time period to obtain an integral result;

[0018] The output end of the integral circuit is connected to the input end of the threshold adjusting circuit, for inputting the integral result into the threshold adjusting circuit; the threshold adjusting circuit determines the adjustable voltage threshold according to the integral result;

[0019] The output end of the threshold adjusting circuit is connected to the negative input end of the bleed buffer comparison circuit, for outputting the adjustable voltage threshold.

[0020] Based on the further improvement of the above-mentioned voltage protection circuit, the integral circuit comprises a second operational amplifier U21, a seventh resistor R21 and a capacitor C21;

[0021] The positive input end of the second operational amplifier U21 serves as the input end of the integral circuit and is connected to the output end of the bus voltage detection circuit;

[0022] The negative input end of the second operational amplifier U21 is connected to one end of the seventh resistor R21, and the other end of the seventh resistor R21 is connected to one end of the capacitor C21;

[0023] The output end of the second operational amplifier U21 is connected to the other end of the capacitor C21, and serves as the output end of the integral circuit and is connected to the input end of the threshold adjusting circuit.

[0024] Based on the further improvement of the above-mentioned voltage protection circuit, the threshold adjusting circuit comprises an eighth resistor R22, a ninth resistor R23, a tenth resistor R24 and a triode Q21;

[0025] The base of the triode Q21 serves as the input end of the threshold adjusting circuit and is connected to the output end of the integral circuit, for receiving the integral result;

[0026] The emitter of the triode Q21 is grounded, one end of the tenth resistor R24 is grounded, and one end of the ninth resistor R23 is connected to the external power supply VCC; the collector of the triode Q21 is connected to one end of the eighth resistor R22;

[0027] The other end of the eighth resistor R22, the other end of the ninth resistor R23, and the other end of the tenth resistor R24 are simultaneously connected to the output end of the threshold adjustment circuit and the negative input end of the discharge buffer comparison circuit.

[0028] Based on the further improvement of the above-mentioned voltage protection circuit, the discharge buffer comparison circuit comprises a third operational amplifier U31 and a discharge time setting circuit;

[0029] The positive input end of the third operational amplifier U31 is connected to the output end of the bus voltage detection circuit as the positive input end of the discharge buffer comparison circuit, and is used to receive the bus voltage;

[0030] The negative input end of the third operational amplifier U31 is used to receive the adjustable voltage threshold as the negative input end of the discharge buffer comparison circuit;

[0031] The output end of the third operational amplifier U31 is connected to the input end of the discharge time setting circuit, the third operational amplifier U31 compares the bus voltage and the adjustable voltage threshold to obtain a third comparison result, and outputs the third comparison result to the discharge time setting circuit;

[0032] The output end of the discharge time setting circuit is connected to the other input end of the logic OR gate, a second comparison result is determined according to the duration of the third comparison result and the time threshold, and the second comparison result is output to the logic OR gate.

[0033] Based on the further improvement of the above-mentioned voltage protection circuit, the discharge time setting circuit comprises a third resistor R31, a fourth resistor R32, a first adjustable capacitor C31, and a first diode D31;

[0034] One end of the third resistor R31, one end of the first adjustable capacitor C31, and the negative electrode of the first diode D31 are connected to the input end of the discharge time setting circuit; the other end of the third resistor R31 is connected to the external power supply VCC, and the other end of the first adjustable capacitor C31 is grounded; the time threshold is set by adjusting the size of the first adjustable capacitor C31;

[0035] The positive electrode of the first diode D31 is simultaneously connected to one end of the fourth resistor R32 and the other input end of the logic OR gate as the output end of the discharge time setting circuit, and outputs the second comparison result to the logic OR gate; the other end of the fourth resistor R32 is connected to the external power supply VCC.

[0036] Based on the further improvement of the above-mentioned voltage protection circuit, the emergency relief circuit comprises a fourth operational amplifier U41, a first resistor R41 and a second resistor R42;

[0037] The positive input end of the fourth operational amplifier U41 is connected with the output end of the bus voltage detection circuit, for receiving the bus voltage;

[0038] The negative input end of the fourth operational amplifier U41 is connected with one end of the first resistor R41 and one end of the second resistor R42, for receiving the upper threshold value of the dangerous voltage; the other end of the first resistor R41 is connected with the external power supply VCC, and the other end of the second resistor R42 is grounded;

[0039] The output end of the fourth operational amplifier U41 is connected with one input end of the logic OR gate, for outputting the first comparison result to the logic OR gate.

[0040] Based on the further improvement of the above-mentioned voltage protection circuit, the bus voltage detection circuit comprises a first operational amplifier U11, a fifth resistor R11 and a sixth resistor R12;

[0041] The negative input end of the first operational amplifier U11 is connected with the output end of the first operational amplifier U11, as the output end of the bus voltage detection circuit, for outputting the bus voltage;

[0042] The positive input end of the first operational amplifier U11 is connected with one end of the fifth resistor R11 and one end of the sixth resistor R12; the other end of the fifth resistor R11 is connected with the bus voltage, for receiving the bus voltage of the exoskeleton; and the other end of the sixth resistor R12 is grounded.

[0043] Based on the further improvement of the above-mentioned voltage protection circuit, the relief circuit comprises an eleventh resistor R51, a twelfth resistor R52 and a field effect tube Q51;

[0044] One end of the eleventh resistor R51 is connected with the input end of the relief circuit, for receiving the relief control signal;

[0045] The other end of the eleventh resistor R51 is connected with the gate of the field effect tube Q51, the drain of the field effect tube Q51 is grounded, and the source of the field effect tube Q51 is connected with one end of the twelfth resistor R52;

[0046] The other end of the twelfth resistor R52 is connected with the bus voltage.

[0047] Compared with the prior art, the present application can at least realize one of the following beneficial effects:

[0048] 1. The bus voltage is detected in real time by the bleed buffer comparison circuit and the emergency bleed circuit, the upper limit threshold of the dangerous voltage and the adjustable voltage threshold are set, so that the appearance of extreme bus voltage during the operation of the exoskeleton is reduced, and the safety during the operation of the exoskeleton is improved.

[0049] 2. The adjustable voltage threshold is set by the bleed threshold voltage self-adjusting circuit combined with different working conditions of the exoskeleton, so that the exoskeleton has different adjustable voltage thresholds when operating in different working conditions, and the operation safety of the exoskeleton in different working conditions is maintained.

[0050] 3. The time threshold is determined by the bleed time setting circuit, the frequent adjustment of the bus voltage caused by the burr signal is reduced, and the stability of the voltage protection circuit during operation is improved.

[0051] In the present application, the above technical solutions can be combined with each other to realize more preferred combination solutions. Other features and advantages of the present application will be described in the subsequent specification, and some advantages will become apparent from the specification, or will be understood by implementing the present application. The purpose and other advantages of the present application can be achieved and obtained from the contents specifically pointed out in the specification and the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0052] The accompanying drawings are included to provide a further understanding of the present application and are incorporated herein and constitute a part of the application. The same reference numerals in the several views designate the same elements.

[0053] Figure 1 A structure diagram of a voltage protection circuit for an exoskeleton is provided for the embodiment of the present application. DETAILED DESCRIPTION

[0054] The preferred embodiments of the present application will be specifically described below in conjunction with the drawings, wherein the drawings constitute a part of the present application and are used to illustrate the principles of the embodiments of the present application, and are not used to limit the scope of the present application.

[0055] One specific embodiment of the present application discloses a voltage protection circuit for an exoskeleton, as shown in Figure 1 The voltage protection circuit comprises:

[0056] A bus voltage detection circuit for receiving the bus voltage of the exoskeleton;

[0057] An emergency bleed circuit for comparing the received bus voltage with the upper limit threshold of the dangerous voltage to obtain a first comparison result;

[0058] The bleed buffer comparison circuit is configured to compare the received bus voltage with an adjustable voltage threshold to obtain a second comparison result, wherein the adjustable voltage threshold is determined based on a voltage increase of the bus voltage in a historical time period;

[0059] The logic OR gate is configured to determine a bleed control signal based on the first comparison result and the second comparison result, and output the bleed control signal to the bleed circuit.

[0060] The bleed circuit is configured to adjust the bus voltage based on the bleed control signal.

[0061] Specifically, as shown in Figure 1 The voltage protection circuit includes a bus voltage detection circuit, an emergency bleed circuit, a bleed buffer comparison circuit, a logic OR gate, and a bleed circuit. The bus voltage detection circuit is configured to receive the bus voltage and transmit the bus voltage to the bleed buffer comparison circuit and the emergency bleed circuit. In the bleed buffer comparison circuit, the bus voltage and the adjustable voltage threshold are compared, and the obtained second comparison result is output to the logic OR gate. Meanwhile, in the emergency bleed circuit, the bus voltage and the upper threshold of the dangerous voltage are compared, and the obtained first comparison result is output to the logic OR gate.

[0062] Specifically, the logic OR gate generates a bleed control signal based on the received first comparison result and second comparison result, and the bleed control signal includes two types: high level and low level. When the high level is used to adjust the bus voltage, and when the low level is used to keep the bus voltage unchanged, so as to realize the adjustment of the bus voltage according to the different bleed control signals, and thus the exoskeleton has a safe bus voltage in different working conditions, and the working safety of the exoskeleton in different working conditions is improved.

[0063] Preferably, the voltage protection circuit further comprises a bleed threshold voltage self-adjusting circuit.

[0064] The input end of the bleed threshold voltage self-adjusting circuit is connected to the output end of the bus voltage detection circuit, and is configured to receive the bus voltage.

[0065] The bleed threshold voltage self-adjusting circuit determines the adjustable voltage threshold based on the voltage increase of the bus voltage in the historical time period.

[0066] The output end of the bleed threshold voltage self-adjusting circuit is connected to the negative input end of the bleed buffer comparison circuit, and is configured to output the adjustable voltage threshold. The positive input end of the bleed buffer comparison circuit is connected to the output end of the bus voltage detection circuit, and is configured to receive the bus voltage.

[0067] Specifically, the bus voltage presents different changes in different working conditions of the exoskeleton, thereby causing different safe voltages of the exoskeleton in different working conditions. The adjustable voltage threshold is set by the discharge threshold voltage self-adjusting circuit according to the change of the bus voltage, and the safe voltage is reasonably set.

[0068] Specifically, as shown in Figure 1 The discharge threshold voltage self-adjusting circuit receives the bus voltage, determines the adjustable voltage threshold according to the voltage increase of the bus voltage in the historical time period, so that different adjustable voltage thresholds can be determined according to different working conditions of the exoskeleton, and the adjustable voltage threshold is transmitted to the discharge buffer circuit to affect the second comparison result of the discharge buffer comparison circuit, so that the exoskeleton adjusts the bus voltage differently in different working conditions, and improves the safety protection of the exoskeleton.

[0069] Preferably, the discharge threshold voltage self-adjusting circuit comprises an integral circuit and a threshold adjusting circuit.

[0070] The input end of the integral circuit is connected to the output end of the bus voltage detection circuit, for receiving the bus voltage, and the integral circuit integrates the voltage of the bus voltage in the historical time period to obtain an integral result.

[0071] The output end of the integral circuit is connected to the input end of the threshold adjusting circuit, for inputting the integral result to the threshold adjusting circuit; and the threshold adjusting circuit determines the adjustable voltage threshold according to the integral result.

[0072] The output end of the threshold adjusting circuit is connected to the negative input end of the discharge buffer comparison circuit, for outputting the adjustable voltage threshold.

[0073] Specifically, as shown in Figure 1 The discharge threshold voltage self-adjusting circuit comprises an integral circuit and a threshold adjusting circuit; the integral circuit is used for integrating the voltage of the bus voltage in the historical time period, and transmitting the obtained integral result to the threshold adjusting circuit, so that the threshold adjusting circuit determines different adjustable voltage thresholds.

[0074] It can be understood that the bus voltage changes differently in different working conditions of the exoskeleton, for example: when wearing the exoskeleton to exercise, especially in the road sections of jumping and downhill, the bus voltage rises due to the instantaneous charging in the motor negative process, and the change is relatively violent, which makes the stability and durability of the exoskeleton system lower.

[0075] The application detects the bus voltage of the exoskeleton in different working conditions through the discharge threshold voltage self-adjusting circuit, judges the working condition of the exoskeleton, and then sets different adjustable voltage thresholds according to different working conditions of the exoskeleton, so as to realize the feedback of electric energy to the battery side of the exoskeleton in a non-overvoltage state, thereby minimizing energy loss. At the same time, discharge is carried out when necessary to prevent the bus voltage from rising instantaneously, ensure the stable operation of the exoskeleton system in various motion scenes, and improve the energy efficiency and safety of the system.

[0076] Preferably, the integral circuit comprises a second operational amplifier U21, a seventh resistor R21 and a capacitor C21;

[0077] The positive input end of the second operational amplifier U21 is connected to the output end of the bus voltage detection circuit as the input end of the integral circuit;

[0078] The negative input end of the second operational amplifier U21 is connected to one end of the seventh resistor R21, and the other end of the seventh resistor R21 is connected to one end of the capacitor C21;

[0079] The output end of the second operational amplifier U21 is connected to the other end of the capacitor C21, and the output end of the integral circuit is connected to the input end of the threshold adjusting circuit.

[0080] Preferably, the threshold adjusting circuit comprises an eighth resistor R22, a ninth resistor R23, a tenth resistor R24 and a triode Q21;

[0081] The base of the triode Q21 is connected to the output end of the integral circuit as the input end of the threshold adjusting circuit, for receiving the integral result;

[0082] The emitter of the triode Q21 is grounded, one end of the tenth resistor R24 is grounded, one end of the ninth resistor R23 is connected to an external power supply VCC, and the collector of the triode Q21 is connected to one end of the eighth resistor R22;

[0083] The other end of the eighth resistor R22, the other end of the ninth resistor R23 and the other end of the tenth resistor R24 are connected to the negative input end of the discharge buffer comparison circuit as the output end of the threshold adjusting circuit.

[0084] Specifically, as shown in Figure 1 The second operational amplifier U21, the seventh resistor R21 and the capacitor C21 included in the integral circuit can integrate the bus voltage before the current time point, so as to obtain the change of the bus voltage in the historical time period, thereby monitoring the bus voltage and judging the type of working condition of the exoskeleton, and setting the adjustable voltage threshold in the working condition.

[0085] Specifically, as shown in Figure 1As shown, when the exoskeleton works in the scene such as flat road, the exoskeleton makes negative work at the commutation of gait cycle, at this time, the energy is fed back to the bus, forming a voltage peak, since the feedback energy is small, the discharge circuit does not need to be opened, and the energy consumption can be consumed only by the exoskeleton in the stage of making positive work in the gait cycle. The bus voltage is filtered by the seventh resistor R21, the capacitor C21 and the second operational amplifier U21 to filter out the voltage peak with small feedback energy, reduce the energy loss and keep the exoskeleton safe operation.

[0086] Specifically, as shown in the figure, Figure 1 As shown, when the exoskeleton works in the scene such as flat road, the exoskeleton makes negative work at the commutation of gait cycle, at this time, the energy is fed back to the bus, forming a voltage peak, since the feedback energy is small, the discharge circuit does not need to be opened, and the energy consumption can be consumed only by the exoskeleton in the stage of making positive work in the gait cycle. The bus voltage is filtered by the seventh resistor R21, the capacitor C21 and the second operational amplifier U21 to filter out the voltage peak with small feedback energy, reduce the energy loss and keep the exoskeleton safe operation.

[0087] Specifically, as shown in the figure, Figure 1 As shown, when the exoskeleton works in the scene such as flat road, the exoskeleton makes negative work at the commutation of gait cycle, at this time, the energy is fed back to the bus, forming a voltage peak, since the feedback energy is small, the discharge circuit does not need to be opened, and the energy consumption can be consumed only by the exoskeleton in the stage of making positive work in the gait cycle. The bus voltage is filtered by the seventh resistor R21, the capacitor C21 and the second operational amplifier U21 to filter out the voltage peak with small feedback energy, reduce the energy loss and keep the exoskeleton safe operation. When the triode Q21 is turned on,

[0088] Preferably, as shown in the figure, Figure 1 The discharge buffer comparison circuit includes a third operational amplifier U31 and a discharge time setting circuit.

[0089] The positive input end of the third operational amplifier U31 is connected to the output end of the bus voltage detection circuit and used for receiving the bus voltage as the positive input end of the discharge buffer comparison circuit.

[0090] The negative input end of the third operational amplifier U31 is used for receiving the adjustable voltage threshold as the negative input end of the discharge buffer comparison circuit.

[0091] The output end of the third operational amplifier U31 is connected to the input end of the discharge time setting circuit, the third operational amplifier U31 compares the bus voltage and the adjustable voltage threshold to obtain a third comparison result, and outputs the third comparison result to the discharge time setting circuit.

[0092] The output end of the bleed time setting circuit is connected to another input end of the logic OR gate, a second comparison result is determined according to the duration of the third comparison result and the time threshold, and the second comparison result is output to the logic OR gate.

[0093] Preferably, the bleed time setting circuit comprises a third resistor R31, a fourth resistor R32, a first adjustable capacitor C31 and a first diode D31.

[0094] One end of the third resistor R31, one end of the first adjustable capacitor C31 and the negative pole of the first diode D31 are input ends of the bleed time setting circuit; the other end of the third resistor R31 is connected to an external power supply VCC, and the other end of the first adjustable capacitor C31 is grounded; the time threshold is set by adjusting the size of the first adjustable capacitor C31.

[0095] The positive pole of the first diode D31 is connected to one end of the fourth resistor R32 and another input end of the logic OR gate, and is an output end of the bleed time setting circuit, which outputs the second comparison result to the logic OR gate; the other end of the fourth resistor R32 is connected to the external power supply VCC.

[0096] Specifically, as shown in Figure 1 The positive input end of the bleed buffer comparison circuit is used for receiving the bus voltage detected in real time, and the negative input end of the bleed buffer comparison circuit is used for receiving the adjustable voltage threshold determined by the bleed threshold voltage self-adjusting circuit.

[0097] Specifically, the bleed buffer comparison circuit comprises a third operational amplifier U31 and a bleed time setting circuit, the positive input end of the third operational amplifier U31 is used as the positive input end of the bleed buffer comparison circuit, the negative input end of the third operational amplifier U31 is used as the negative input end of the bleed buffer comparison circuit, and the third comparison result of the bus voltage and the adjustable voltage threshold is output to the bleed time setting circuit.

[0098] Specifically, as shown in Figure 1 In the bleed time setting circuit, it can be understood that only when the negative pole voltage of the first diode D31 rises due to the charging of the first adjustable capacitor C31 by the continuously high-level output of the third operational amplifier U31, the first diode D31 will be turned off. When the third operational amplifier U31 cannot continuously output a high level, the first diode D31 will be in a conductive state.

[0099] It can be understood that when the first diode D31 is in the on state, the second comparison result is low, at this time the first adjustable capacitor can filter the short time glitch voltage, avoid frequent bleeding circuit. When the glitch voltage continues to exceed the adjustable voltage threshold for a certain time, the first diode D31 is in the off state, and the second comparison result is high, at this time the bleeding circuit needs to work, and the bus voltage is reduced.

[0100] Specifically, as shown in the figure, Figure 1 In the bleeding buffer comparison circuit, the detection value of the bus voltage and the adjustable voltage threshold are compared, when the bus voltage exceeds the adjustable voltage threshold, the third operational amplifier U31 outputs high level, and the first adjustable capacitor C31 is charged; When the bus voltage is lower than the adjustable voltage threshold, the third operational amplifier U31 outputs low level, and the first adjustable capacitor C31 is discharged, so as to avoid the glitch signal causing the bleeding circuit to be frequently opened for a short time, that is, the third operational amplifier U31 needs to output high level for a period of time, so that the bleeding buffer comparison circuit outputs high level and opens the bleeding circuit.

[0101] Preferably, as shown in the figure, Figure 1 The emergency bleeding circuit comprises a fourth operational amplifier U41, a first resistor R41 and a second resistor R42;

[0102] The positive input end of the fourth operational amplifier U41 is connected with the output end of the bus voltage detection circuit, for receiving the bus voltage;

[0103] The negative input end of the fourth operational amplifier U41 is connected with one end of the first resistor R41 and one end of the second resistor R42, for receiving the upper limit threshold of the dangerous voltage; the other end of the first resistor R41 is connected with the external power supply VCC, and the other end of the second resistor R42 is grounded;

[0104] The output end of the fourth operational amplifier U41 is connected with one input end of the logic or gate, for outputting the first comparison result to the logic or gate.

[0105] Specifically, the foregoing self-adjusting circuit for bleeding threshold voltage avoids the defect of frequent bleeding leading to energy loss, but also increases the response time when the bus voltage overshoots, at this time the emergency bleeding circuit can directly compare the real-time detected bus voltage with the upper limit threshold of the dangerous voltage, when the real-time detected bus voltage is greater than the upper limit threshold of the dangerous voltage, output high level, and the bleeding circuit is started; When the real-time detected bus voltage is less than the upper limit threshold of the dangerous voltage, output low level, and the bleeding circuit does not need to work.

[0106] It can be understood that, as shown in the figure, Figure 1As shown, the first comparison result output by the emergency bleed circuit and the second comparison result output by the bleed buffer comparison circuit are jointly output to a logic OR gate U51, that is, as long as one of the first comparison result and the second comparison result has a high level, the bleed circuit can be turned on to reduce the bus voltage.

[0107] Preferably, as Figure 1 As shown, the bus voltage detection circuit comprises a first operational amplifier U11, a fifth resistor R11 and a sixth resistor R12.

[0108] The negative input end of the first operational amplifier U11 is connected to the output end of the first operational amplifier U11, serving as the output end of the bus voltage detection circuit, for outputting the bus voltage.

[0109] The positive input end of the first operational amplifier U11 is simultaneously connected to one end of the fifth resistor R11 and one end of the sixth resistor R12; the other end of the fifth resistor R11 is connected to the bus voltage, for receiving the bus voltage of the exoskeleton; and the other end of the sixth resistor R12 is grounded.

[0110] Specifically, in order to avoid the original output value of the bus voltage from damaging the voltage protection circuit, the original output value of the bus voltage is divided by the fifth resistor R11 and the sixth resistor R12 before being output to the voltage protection circuit, thereby improving the service life and safety of the voltage protection circuit.

[0111] Specifically, the first operational amplifier U11 serves as a follower circuit, which can transmit the divided original output value of the bus voltage to the bleed threshold voltage self-adjusting circuit, the emergency bleed circuit and the bleed buffer comparison circuit, thereby improving the accuracy of bus voltage detection.

[0112] Preferably, the bleed circuit comprises an eleventh resistor R51, a twelfth resistor R52 and a field effect transistor Q51.

[0113] One end of the eleventh resistor R51 serves as the input end of the bleed circuit, for receiving the bleed control signal.

[0114] The other end of the eleventh resistor R51 is connected to the gate of the field effect transistor Q51, the drain of the field effect transistor Q51 is grounded, and the source of the field effect transistor Q51 is connected to one end of the twelfth resistor R52.

[0115] The other end of the twelfth resistor R52 is connected to the bus voltage.

[0116] Specifically, as Figure 1As shown, when the bleed control signal is high, the field effect transistor Q51 is turned on, the bleed circuit starts to work, the bus voltage is regulated by the twelfth resistor R52, and the bus voltage is reduced; when the bleed control signal is low, the field effect transistor Q51 is turned off, the bleed circuit does not work, and the bus voltage does not need to be regulated.

[0117] Compared with the prior art, the voltage protection circuit for the exoskeleton provided by the embodiment of the application reduces the occurrence of extreme bus voltage during the operation of the exoskeleton by real-time detection of the bus voltage by the bleed buffer comparison circuit and the emergency bleed circuit, in combination with the set upper limit threshold of the dangerous voltage and the adjustable voltage threshold, and improves the safety during the operation of the exoskeleton. At the same time, the adjustable voltage threshold is set by the bleed threshold voltage self-adjusting circuit in combination with different working conditions of the exoskeleton, so that the exoskeleton has different adjustable voltage thresholds when operating in different working conditions, and the operation safety of the exoskeleton in different working conditions is maintained. Furthermore, the time threshold is determined by the bleed time setting circuit, the bus voltage is reduced from being frequently regulated due to the glitch signal, and the stability of the voltage protection circuit during operation is improved.

[0118] Those skilled in the art can understand that all or part of the processes of the above-mentioned embodiments can be completed by a computer program instructing related hardware, and the program can be stored in a computer readable storage medium. The computer readable storage medium is a disk, an optical disk, a read-only memory or a random access memory, etc.

[0119] The above is only a preferred specific embodiment of the application, but the protection scope of the application is not limited to this. Any changes or replacements within the technical range disclosed by the application can be easily thought of by those skilled in the art, and should be covered within the protection scope of the application.

Claims

1. A voltage protection circuit for an exoskeleton, characterized by, The voltage protection circuit comprises: a bus voltage detection circuit configured to receive a bus voltage of the exoskeleton; an emergency bleed circuit configured to compare the received bus voltage with an upper threshold of a dangerous voltage to obtain a first comparison result; a bleed buffer comparison circuit configured to compare the received bus voltage with an adjustable voltage threshold to obtain a second comparison result, wherein the adjustable voltage threshold is determined based on a voltage increase of the bus voltage in a historical time period; a logic OR gate configured to determine a bleed control signal according to the first comparison result and the second comparison result, and output the bleed control signal to the bleed circuit; a bleed circuit configured to adjust the bus voltage according to the bleed control signal.

2. The voltage protection circuit of claim 1, wherein, The voltage protection circuit further comprises a bleed threshold voltage self-adjusting circuit; an input end of the bleed threshold voltage self-adjusting circuit is connected to an output end of the bus voltage detection circuit, and configured to receive the bus voltage; the bleed threshold voltage self-adjusting circuit determines the adjustable voltage threshold based on the voltage increase of the bus voltage in the historical time period; an output end of the bleed threshold voltage self-adjusting circuit is connected to a negative input end of the bleed buffer comparison circuit, and configured to output the adjustable voltage threshold; a positive input end of the bleed buffer comparison circuit is connected to the output end of the bus voltage detection circuit, and configured to receive the bus voltage.

3. The voltage protection circuit of claim 2, wherein, The bleed threshold voltage self-adjusting circuit comprises an integration circuit and a threshold adjusting circuit; an input end of the integration circuit is connected to the output end of the bus voltage detection circuit, and configured to receive the bus voltage; the integration circuit integrates the voltage of the bus voltage in the historical time period to obtain an integration result; an output end of the integration circuit is connected to an input end of the threshold adjusting circuit, and configured to input the integration result to the threshold adjusting circuit; the threshold adjusting circuit determines the adjustable voltage threshold based on the integration result; an output end of the threshold adjusting circuit is connected to the negative input end of the bleed buffer comparison circuit, and configured to output the adjustable voltage threshold.

4. The voltage protection circuit of claim 3, wherein, The integration circuit comprises a second operational amplifier U21, a seventh resistor R21 and a capacitor C21; a positive input end of the second operational amplifier U21 is connected to the output end of the bus voltage detection circuit, and serves as an input end of the integration circuit; a negative input end of the second operational amplifier U21 is connected to one end of the seventh resistor R21; the other end of the seventh resistor R21 is connected to one end of the capacitor C21; the output end of the second operational amplifier U21 is connected to the other end of the capacitor C21, and serves as an output end of the integration circuit and is connected to an input end of the threshold adjusting circuit.

5. The voltage protection circuit of claim 3, wherein, The threshold adjusting circuit comprises an eighth resistor R22, a ninth resistor R23, a tenth resistor R24 and a triode Q21; a base of the triode Q21 is connected to the output end of the integration circuit, and serves as an input end of the threshold adjusting circuit and is configured to receive the integration result; an emitter of the triode Q21 is grounded; one end of the tenth resistor R24 is grounded; one end of the ninth resistor R23 is connected to an external power supply VCC; a collector of the triode Q21 is connected to one end of the eighth resistor R22; the other end of the eighth resistor R22, the other end of the ninth resistor R23 and the other end of the tenth resistor R24 serve as an output end of the threshold adjusting circuit, and are connected to a negative input end of the bleed buffer comparison circuit.

6. The voltage protection circuit of claim 1, wherein, The bleed buffer comparison circuit comprises a third operational amplifier U31 and a bleed time setting circuit; The positive input end of the third operational amplifier U31 is connected to the output end of the bus voltage detection circuit, and is used for receiving the bus voltage. The negative input end of the third operational amplifier U31 is used for receiving the adjustable voltage threshold value. The output end of the third operational amplifier U31 is connected to the input end of the bleed time setting circuit. The output end of the bleed time setting circuit is connected to the other input end of the logic OR gate.

7. The voltage protection circuit of claim 6, wherein, The bleed time setting circuit comprises a third resistor R31, a fourth resistor R32, a first adjustable capacitor C31 and a first diode D31. The one end of the third resistor R31, the one end of the first adjustable capacitor C31 and the negative electrode of the first diode D31 are connected to the input end of the bleed time setting circuit. The positive electrode of the first diode D31 is connected to the one end of the fourth resistor R32 and the other input end of the logic OR gate, and is used for outputting the second comparison result to the logic OR gate.

8. The voltage protection circuit of claim 1, wherein, The emergency bleed circuit comprises a fourth operational amplifier U41, a first resistor R41 and a second resistor R42. The positive input end of the fourth operational amplifier U41 is connected to the output end of the bus voltage detection circuit, and is used for receiving the bus voltage. The negative input end of the fourth operational amplifier U41 is connected to the one end of the first resistor R41 and the one end of the second resistor R42. The output end of the fourth operational amplifier U41 is connected to the input end of the logic OR gate.

9. The voltage protection circuit of claim 1, wherein, The bus voltage detection circuit comprises a first operational amplifier U11, a fifth resistor R11 and a sixth resistor R12. The negative input end of the first operational amplifier U11 is connected to the output end of the first operational amplifier U11, and is used for outputting the bus voltage. The positive input end of the first operational amplifier U11 is connected to the one end of the fifth resistor R11 and the one end of the sixth resistor R12.

10. The voltage protection circuit of claim 1, wherein, The bleed circuit comprises an eleventh resistor R51, a twelfth resistor R52 and a field effect transistor Q51. The one end of the eleventh resistor R51 is connected to the input end of the bleed circuit, and is used for receiving the bleed control signal. The other end of the eleventh resistor R51 is connected to the gate of a field effect transistor Q51, the drain of the field effect transistor Q51 is connected to ground, and the source of the field effect transistor Q51 is connected to one end of a twelfth resistor R52; The other end of the twelfth resistor R52 is connected to the bus voltage.

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