A control circuit for a stationary taping robot

Abstract

This invention relates to the field of agricultural equipment control and discloses a control circuit for a fixed rubber tapping robot, comprising: a current monitoring module for monitoring the current and power of the z-axis and circular DC motors and stepper motors in the fixed rubber tapping robot, and transmitting the data to a main control chip; the main control chip receiving the current and power signals, determining the actual force on the blades during the tapping process based on the transmission relationship between the motors and the blades of the fixed rubber tapping robot, and then determining the output control signal based on the difference between the actual force value and the preset force value of the blades, and feeding it back to the DC motors and stepper motors; a buzzer alarm module for providing audible alarms in the event of overload or emergency stop of the DC motors and stepper motors based on the control signal transmitted by the main control chip; a DC-DC step-down module for adjusting the voltage provided by the external power supply system to power the components; and a basic module of the microcontroller minimum system for providing clock signals and reset signals to the main control chip, and transmitting them to the main control chip after filtering out power ripple.

Description

Technical Field

[0001] This invention relates to the field of agricultural equipment control technology, and in particular to a control circuit for a stationary rubber tapping robot. Background Technology

[0002] Currently, traditional manual rubber tapping suffers from high labor intensity, high technical barriers, and limited work efficiency, severely restricting the large-scale and sustainable development of the rubber industry. With the improvement of the intelligence level of modern agricultural equipment, stationary rubber tapping robots have emerged, which can automate, refine, and continuously complete the rubber tapping process, significantly improving tapping efficiency and quality while reducing reliance on manual labor.

[0003] Against this backdrop, embedded control technology, as a core support for intelligent equipment, has been widely applied in fields such as industrial control, the Internet of Things, and agricultural machinery. The operational performance of stationary rubber tapping robots highly depends on the reliability and adaptability of their control systems. As a key component for realizing electrical control functions, the control board needs to be specially designed for the environmental characteristics and functional requirements of specific application scenarios. Currently, although embedded systems are relatively mature in the field of general control, a high-performance, high-reliability control board solution specifically for stationary rubber tapping robots is still lacking, given the complex environment of rubber plantations and the stringent requirements for motion accuracy, timing control, and energy management in rubber tapping operations. Summary of the Invention

[0004] To address the aforementioned problems, the purpose of this invention is to provide a control circuit for a fixed rubber tapping robot. This circuit is adaptable to the rubber planting environment, integrates multiple functions such as sensing and processing, motor drive, and communication interaction, and possesses stability, thereby promoting the practical application and industrialization of fixed rubber tapping robots.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a control circuit for a fixed rubber tapping robot, comprising: a current monitoring module for monitoring the current and power of the z-axis and circular DC motors and stepper motors in the fixed rubber tapping robot, and transmitting the monitored current and power signals to the main control chip; a main control chip for receiving the current and power signals of the DC motors and stepper motors transmitted by the current monitoring module, determining the actual force on the blades during the rubber tapping process based on the transmission relationship between the motors and the blades of the fixed rubber tapping robot, and determining the output control signal based on the difference between the actual force value and the preset force value of the blades, and feeding it back to the DC motors and stepper motors; a buzzer alarm module for providing an audible alarm in the case of overload or emergency stop of the DC motors and stepper motors based on the control signal transmitted by the main control chip; a DC-DC and linear regulator step-down module for adjusting the voltage provided by the external power supply system to power the components; and a basic module of the single-chip microcomputer minimum system for providing clock signals and reset signals to the main control chip, and transmitting them to the main control chip after filtering out power ripple.

[0006] Furthermore, the control circuit employs three current monitoring modules, which are used to monitor the current and power of the z-axis DC motor, the circular DC motor, and the stepper motor, respectively; all current monitoring modules are implemented based on the INA226 chip.

[0007] Furthermore, the current monitoring module includes an INA226 chip, a MOSFET, a TVS diode, a filter inductor L1, first resistors R1 to ninth resistors R9, a first capacitor C1, a second capacitor C2, and an amplifier U1; The VIN+ pin of the INA226 chip is connected to the TVS+ terminal of the TVS transistor via the first resistor R1. The other end of the TVS transistor is connected to a 24V power supply. The 24V power supply is transmitted to the first terminal of the first capacitor C1 after EMI filtering by the filter inductor L1. The second terminal of the first capacitor C1 is connected to the second terminal of the third resistor R3, which serves as the first sampling resistor. The first terminal of the third resistor R3 is connected to the positive terminal of the motor. The two ends of the third resistor R3 are connected in parallel as the fourth resistor R4, which is the second sampling resistor. The first end of the third resistor R3 is connected to the first end of the fifth resistor R5, and the second end of the fifth resistor R5 is connected to the drain of the MOSFET. The gate of the MOSFET is grounded, and the source of the MOSFET is connected to the inverting input of the amplifier U1. Sampling is performed by switching different sampling resistors through the MOSFET. The positive terminal of amplifier U1 is connected to the TVS+ terminal of the TVS transistor. The output terminal of amplifier U1 serves as the output terminal of the current monitoring module, outputting the monitored current and power. Amplifier U1 also functions as a peak current comparator to achieve microsecond-level overcurrent protection and quickly cut off the motor drive. The VIN- pin of the INA226 chip is connected to the second terminal of the third resistor R3 and the second terminal of the first capacitor C1 via the second resistor. The VBUS pin of the INA226 chip is connected to the 24V power supply. The GND pin of the INA226 chip is connected to the zero-potential reference node GND. The VS+ pin is connected to the zero-potential reference node GND via the second capacitor C2 used for filtering. The SDA and SCL pins of the INA226 chip are connected to the first terminal of the eighth resistor R8 and the first terminal of the ninth resistor R9, respectively. The second terminals of the eighth resistor R8 and the second terminals of the ninth resistor R9 are connected in parallel and then connected to the 5V power supply and the VS+ pin, respectively. The A1 and A0 pins of the INA226 chip are connected to the first end of the sixth resistor R6 and the first end of the seventh resistor R7, respectively. The second ends of the sixth resistor R6 and the second ends of the seventh resistor R7 are connected in parallel to the zero potential reference node GND.

[0008] Furthermore, the first sampling resistor is a 2mΩ precision sampling resistor, and the second sampling resistor is a 200μΩ sampling resistor. The 2mΩ precision sampling resistor is used for high current monitoring during the motor cutting stage, and the 200μΩ sampling resistor is used for low-current high-precision detection during the low-speed positioning stage. Different sampling channels are automatically switched through a MOSFET.

[0009] Furthermore, based on the current output by amplifier U1, and utilizing the relationship between motor power and current, and based on the known rated voltage of the motor, the measured current is calculated as the real-time output power of the motor. The motor torque is calculated based on the relationship between the motor's power and its torque. Then, based on the transmission relationship between the output torque and torque of the cutter and the motor, the real-time output torque of the motor is deduced back into the actual force on the cutter during the rubber cutting process.

[0010] Furthermore, the DC-DC and linear regulator step-down modules include a 24V-5V DC-DC chip step-down module and a 5V-3.3V linear regulator step-down module; The 24V-5V DC-DC step-down module is used to step down the external power supply from 24V to 5V to power the high-voltage load unit, and the 5V-3.3V linear regulator step-down module is used to step down the external power supply from 5V to 3.3V to power the low-voltage functional unit. The high-voltage load unit includes two DC motors and a stepper motor, while the low-voltage functional unit includes a sensor module, a communication module, a buzzer alarm module, indicator lights, and a debugging and operation module.

[0011] Furthermore, the 24V-5V DC-DC step-down module includes an MP1584EN-LF-Z chip, a second inductor L2, a first diode D1, third capacitors C3 to ninth capacitors C9, and tenth resistors R10 to fifteenth resistors R15. The VIN input pin of the MP1584EN-LF-Z chip is connected in parallel with the first terminal of the tenth resistor R10, the first terminal of the third capacitor C3, and the first terminal of the fourth capacitor C4, and then connected to a 24V power supply. The second terminals of the third capacitor C3 and the fourth capacitor C4 are connected to the zero-potential reference node GND. The third capacitor C3 and the fourth capacitor C4 are used to filter and stabilize the voltage. The second terminal of the tenth resistor R10 is connected to the first terminal of the eleventh resistor R11, and the second terminal of the eleventh resistor R11 is connected to the zero-potential reference node GND. The EN pin of the MP1584EN-LF-Z chip is connected to the first terminal of the eleventh resistor R11. The FREQ pin of the MP1584EN-LF-Z chip is connected to the zero-potential reference node GND via the twelfth resistor R12. The GND pin is connected in parallel with the EP pin and then connected to the zero-potential reference node GND. The fifth capacitor C5 used for filtering in series on the COMP pin of the MP1584EN-LF-Z chip is connected to the first end of the thirteenth resistor R13, and the second end of the thirteenth resistor R13 is connected to the zero potential reference node GND; a feedback network is formed through the tenth resistor R10 to the thirteenth resistor R13. The FB pin of the MP1584EN-LF-Z chip is connected to the first end of the fourteenth resistor R14, and the second end of the fourteenth resistor R14 is connected to the zero-potential reference node GND. The first end of the fourteenth resistor R14 is also connected to the first end of the fifteenth resistor R15. Voltage is divided by the fourteenth resistor R14 and the fifteenth resistor R15, and the second end of the fifteenth resistor R15 is connected to the output of the 24V-5V step-down module to output the stepped-down 5V voltage. The SW pin of the MP1584EN-LF-Z chip is connected to the negative terminal of the first diode D1, and the positive terminal of the first diode D1 is connected to the zero-potential reference node GND. The negative terminal of the first diode D1 is connected to the output terminal of the 24V-5V step-down module through the second inductor L2. Energy is stored and transferred through the second inductor L2 to achieve voltage conversion. The first diode D1 provides inductance freewheeling to prevent reverse high voltage. The sixth capacitor C6, the seventh capacitor C7, and the eighth capacitor C8 for filtering are connected in parallel between the second inductor L2 and the output terminal. The BST pin of the MP1584EN-LF-Z chip is connected to the negative terminal of the first diode D1 via the ninth capacitor C9. The ninth capacitor C9 filters and stabilizes the voltage and participates in frequency setting.

[0012] Furthermore, the 5V-3.3V linear regulator step-down module includes an AMS117-3.3 chip, a tenth capacitor C10, an eleventh capacitor C11, and a twelfth capacitor C12; The VIN input pin of the AMS117-3.3 chip is connected to the +5V input voltage. The first end of the tenth capacitor C10 is connected to the VIN input pin to filter the input +5V voltage and obtain a stable +5V voltage for input to the AMS117-3.3 chip. The second terminal of the tenth capacitor C10 is connected in parallel with the GND pin of the AMS117-3.3 chip and then connected to the zero-potential reference node GND; the first terminal of the eleventh capacitor C11 and the first terminal of the twelfth capacitor C12 are connected in parallel and then connected to the zero-potential reference node GND. After the VOUT output pin of the AMS117-3.3 chip is connected to the second terminal of the eleventh capacitor C11 and the second terminal of the twelfth capacitor C12 respectively, the output voltage is filtered by the filter structure formed by the eleventh capacitor C11 and the twelfth capacitor C12, and a stable +3.3V voltage is output.

[0013] Furthermore, the control circuit includes a backup battery module, which transmits the voltage provided by the external power supply system to the backup battery module, and then filters it through the basic module to supply power to the main control chip and the basic module. The control circuit also includes a button module, an external device interface, and multiple reserved expansion interfaces; The button module includes multiple manual adjustment button interfaces and a master switch interface; There are 26 external device interfaces. All external connections are made using standardized 2.54mm pitch terminal blocks.

[0014] Furthermore, the control circuit is mounted on the circuit board, which uses a two-layer PCB structure.

[0015] The present invention has the following advantages due to the adoption of the above technical solutions: This invention utilizes three current monitoring modules based on the INA226 chip to monitor the real-time current and power of each actuator motor in a fixed rubber tapping robot, thereby indirectly and accurately deriving the stress state of the tapping blade. This monitoring module forms a closed-loop linkage with a buzzer alarm module and LED status indicators. When an abnormal power is detected (indicated by overload or obstruction of the tapping blade), it automatically triggers an audible and visual alarm and autonomously executes an emergency stop logic. This represents a leap from "passive detection" to "intelligent perception and decision-making," significantly improving the inherent safety level of the equipment under unattended operating conditions. Attached Figure Description

[0016] Figure 1This is a schematic diagram of the overall structure of the control circuit for a fixed rubber tapping robot in an embodiment of the present invention; Figure 2 This is an electrical schematic diagram of the current monitoring module in an embodiment of the present invention; Figure 3 This is a schematic diagram of the 24V-5V step-down module in an embodiment of the present invention; Figure 4 This is the electrical schematic diagram of the 5V-3.3V step-down module in this embodiment of the invention; Figure 5 This is a circuit board structure wiring diagram in an embodiment of the present invention. Detailed Implementation

[0017] To address the industry pain points of poor adaptability, insufficient safety, and high cost of traditional control schemes, this invention provides a control circuit for stationary rubber tapping robots. This invention uses an STM32F407VET6 chip as the main control chip for computation and adopts a modular design approach. It comprises eight parts: a DC-DC step-down module, a current monitoring module, a buzzer alarm module, a backup battery module, a button module, an indicator light module, and an external interface. The control circuit of this invention employs a two-layer board optimized layout design. Through a rationally designed current monitoring module specifically for stationary rubber tapping robots and utilizing a power inversion mechanism, it achieves intelligent safety protection for rubber tapping operations, balancing high reliability and low cost, and fully meeting the automated control needs of stationary rubber tapping robots in the complex environment of rubber plantations.

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the described embodiments of the present invention are within the scope of protection of the present invention.

[0019] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0020] In one embodiment of the present invention, a control circuit for a fixed rubber tapping robot is provided, specifically relating to a dedicated control circuit for a fixed rubber tapping robot designed for complex working conditions in rubber plantations. This circuit is suitable for electrical control scenarios in agricultural intelligent equipment, and is particularly well-suited to the high-precision, high-stability, and low-power consumption control requirements of rubber tapping operations. In this embodiment, as... Figure 1 As shown, the control circuit includes: a main control chip, a basic module of a single-chip microcomputer minimum system, a current monitoring module, a DC-DC step-down module, an external device interface, an indicator light module, a buzzer alarm module, a button module, and a backup battery module.

[0021] The current monitoring module is used to monitor the current and power of the z-axis and circular DC motors and stepper motors in the fixed rubber tapping robot, and transmit the monitored current and power signals to the main control chip. The main control chip receives current and power signals from the DC motor and stepper motor transmitted by the current monitoring module. Based on the transmission relationship between the motor and the blade of the fixed rubber tapping robot, it determines the actual force on the blade during the rubber tapping process. Then, based on the difference between the actual force value and the preset force value of the blade, it determines the output control signal and feeds it back to the DC motor and stepper motor. In this embodiment, the main control chip uses an STM32F407VET6 microcontroller as the main control chip, utilizing the powerful timer resources of the main control chip to support the multi-tasking and high-precision timing control required for rubber tapping operations.

[0022] The buzzer alarm module, based on the control signals transmitted by the main control chip, is used to provide audible alarms when DC motors and stepper motors are overloaded or in emergency stop condition. DC-DC and linear regulator step-down modules adjust the voltage provided by the external power supply system to power various components; The basic module of the microcontroller minimum system is used to provide clock signals and reset signals to the main control chip, and to transmit them to the main control chip after filtering out power supply ripple.

[0023] In the above embodiments, the control circuit employs three current monitoring modules to monitor the current and power of the z-axis DC motor, the circular DC motor, and the stepper motor, respectively, thereby indirectly and accurately deducing the stress state of the rubber-tapping tool. All current monitoring modules are implemented based on the INA226 chip and have the same structure and principle.

[0024] Taking the INA226-z-axis DC motor as an example, such as Figure 2 As shown, the current monitoring module includes an INA226 chip, a MOSFET, a TVS diode, a filter inductor L1, first resistors R1 to ninth resistors R9, a first capacitor C1, a second capacitor C2, and an amplifier U1.

[0025] The VIN+ pin of the INA226 chip is connected to the TVS+ terminal of a TVS diode via a first resistor R1. The other end of the TVS diode is connected to a 24V power supply. The 24V power supply is filtered for EMI by a filter inductor L1 and then transmitted to the first terminal of a first capacitor C1. The second terminal of the first capacitor C1 is connected to the second terminal of a third resistor R3, which serves as the first sampling resistor. The first terminal of the third resistor R3 is connected to the positive terminal of the motor. The first capacitor C1 and the first resistor R1 form an RC damping network. Through the damping network, the TVS diode, and the filter inductor L1, surges, motor back electromotive force, and high-frequency interference in the outdoor power supply system of the rubber tapping robot are effectively suppressed, improving the stability of the rubber tapping robot in the field environment.

[0026] The two ends of the third resistor R3 are connected in parallel as the fourth resistor R4, which is the second sampling resistor. The first end of the third resistor R3 is connected to the first end of the fifth resistor R5, and the second end of the fifth resistor R5 is connected to the drain of the MOSFET. The gate of the MOSFET is grounded, and the source of the MOSFET is connected to the inverting input of the amplifier U1. Sampling is performed by switching different sampling resistors through the MOSFET.

[0027] The positive terminal of amplifier U1 is connected to the TVS+ terminal of the TVS transistor. The output terminal of amplifier U1 serves as the output terminal of the current monitoring module, outputting the monitored current and power. Amplifier U1 also acts as a peak current comparator to achieve microsecond-level overcurrent protection, quickly cutting off the motor drive, thereby compensating for the insufficient digital sampling speed of the INA226 chip and improving overall safety.

[0028] The VIN- pin of the INA226 chip is connected to the second terminal of the third resistor R3 and the second terminal of the first capacitor C1 via the second resistor. The VBUS pin of the INA226 chip is connected to the 24V power supply. The GND pin of the INA226 chip is connected to the zero-potential reference node GND, and the VS+ pin is connected to the zero-potential reference node GND via the second capacitor C2 used for filtering. The SDA and SCL pins of the INA226 chip are connected to the first terminal of the eighth resistor R8 and the first terminal of the ninth resistor R9, respectively. The second terminals of the eighth resistor R8 and the second terminals of the ninth resistor R9 are connected in parallel and then connected to the 5V power supply and the VS+ pin, respectively.

[0029] The A1 and A0 pins of the INA226 chip are connected to the first end of the sixth resistor R6 and the first end of the seventh resistor R7, respectively. The second ends of the sixth resistor R6 and the second ends of the seventh resistor R7 are connected in parallel to the zero potential reference node GND.

[0030] In this embodiment, a 2mΩ precision sampling resistor is used as the first sampling resistor, and a 200μΩ sampling resistor is used as the second sampling resistor. The 2mΩ precision sampling resistor is used for high-current monitoring during the motor cutting stage, and the 200μΩ sampling resistor is used for high-precision detection of low-current during the low-speed positioning stage. Different sampling channels are automatically switched by a MOSFET to ensure that the device does not burn out under high current and does not distort under low current.

[0031] In this embodiment, based on the current I output by amplifier U1, and using the relationship between motor power and current P=UI, and based on the known rated voltage of the motor, the measured current I can be calculated as the real-time output power P of the motor. Then, the motor torque is calculated based on the relationship between the motor power and the motor torque. Furthermore, based on the transmission relationship between the output torque and the output torque of the cutter and the motor (e.g., reduction ratio, lead screw, or linkage mechanism mechanical model), the real-time output torque of the motor can be inversely derived as the actual force on the cutter during the rubber cutting process. This invention eliminates the need for additional sensors at the cutter end, has a simple structure, and responds quickly, enabling online monitoring and evaluation of the cutting force.

[0032] In this embodiment, the current monitoring module accurately captures transient currents (such as starting impacts and sudden load changes during load shedding) and steady-state currents, and operates stably in high-interference environments—it has strong resistance to PWM and motor commutation noise, and is not prone to false alarms even in high-EMI scenarios. The current monitoring module integrates a fast hardware circuit-breaking mechanism (a hardware peak current comparator composed of amplifier U1), which can quickly protect the actuator in case of overcurrent or jamming. Designed for the harsh working conditions of rubber plantations, it exhibits long-term stability, temperature drift compensation, and overvoltage surge protection capabilities, and is adaptable to high-temperature and humid environments. Under controllable cost conditions, the current monitoring module further improves the measurement dynamic range and overall reliability, ensuring continuous and accurate monitoring under various complex conditions.

[0033] In the above embodiments, such as Figure 3 As shown, the DC-DC and linear regulator step-down module includes a 24V-5V DC-DC chip step-down module and a 5V-3.3V linear regulator step-down module. The 24V-5V DC-DC chip step-down module is used to step down the external power supply from 24V to 5V to power the high-voltage load unit, and the 5V-3.3V linear regulator step-down module is used to step down the external power supply from 5V to 3.3V to power the low-voltage functional unit. The high-voltage load unit includes two DC motors and a stepper motor, while the low-voltage functional unit includes a sensor module, a communication module, a buzzer alarm module, indicator lights, and a debugging and operation module.

[0034] In this embodiment, the 24V-5V DC-DC chip step-down module includes an MP1584EN-LF-Z chip, a second inductor L2, a first diode D1, third capacitors C3 to ninth capacitors C9, and tenth resistors R10 to fifteenth resistors R15.

[0035] The VIN input pin of the MP1584EN-LF-Z chip is connected in parallel with the first terminal of the tenth resistor R10, the first terminal of the third capacitor C3, and the first terminal of the fourth capacitor C4, and then connected to a 24V power supply. The second terminals of the third capacitor C3 and the fourth capacitor C4 are connected to the zero-potential reference node GND. The third capacitor C3 and the fourth capacitor C4 are used to filter and stabilize the voltage. The second terminal of the tenth resistor R10 is connected to the first terminal of the eleventh resistor R11, and the second terminal of the eleventh resistor R11 is connected to the zero-potential reference node GND. The EN pin of the MP1584EN-LF-Z chip is connected to the first terminal of the eleventh resistor R11.

[0036] The FREQ pin of the MP1584EN-LF-Z chip is connected to the zero-potential reference node GND via the twelfth resistor R12. The GND pin is connected in parallel with the EP pin and then connected to the zero-potential reference node GND.

[0037] The fifth capacitor C5, used for filtering, is connected in series with the COMP pin of the MP1584EN-LF-Z chip, and then connected to the first terminal of the thirteenth resistor R13. The second terminal of the thirteenth resistor R13 is connected to the zero-potential reference node GND. A feedback network is formed through the tenth resistor R10 to the thirteenth resistor R13 to ensure a stable 5V output voltage.

[0038] The FB pin of the MP1584EN-LF-Z chip is connected to the first end of the fourteenth resistor R14, and the second end of the fourteenth resistor R14 is connected to the zero-potential reference node GND. The first end of the fourteenth resistor R14 is also connected to the first end of the fifteenth resistor R15. Voltage is divided by the fourteenth resistor R14 and the fifteenth resistor R15, and the second end of the fifteenth resistor R15 is connected to the output of the 24V-5V step-down module to output the stepped-down 5V voltage.

[0039] The SW pin of the MP1584EN-LF-Z chip is connected to the negative terminal of the first diode D1, and the positive terminal of the first diode D1 is connected to the zero-potential reference node GND. The negative terminal of the first diode D1 is connected to the output terminal of the 24V-5V step-down module through the second inductor L2. Energy is stored and transferred through the second inductor L2 to achieve voltage conversion. The first diode D1 provides inductance freewheeling to prevent reverse high voltage. The sixth capacitor C6, the seventh capacitor C7, and the eighth capacitor C8 are connected in parallel between the second inductor L2 and the output terminal for filtering.

[0040] The BST pin of the MP1584EN-LF-Z chip is connected to the negative terminal of the first diode D1 via the ninth capacitor C9. The ninth capacitor C9 filters and stabilizes the voltage and participates in frequency setting.

[0041] The second inductor L2 is a 15μH inductor, the first diode D1 is an SMAJ70A diode, and the third capacitor C3 to the ninth capacitor C9 are 100nF, 10μF, 15μF, 22μF, 4.7μF, and two 100nF capacitors, respectively. The tenth resistor R10 to the thirteenth resistor R13 are all 100kΩ resistors, the fourteenth resistor R14 is a 6.2kΩ resistor, and the fifteenth resistor R15 is a 43kΩ resistor.

[0042] In this embodiment, as Figure 4 As shown, the 5V-3.3V linear regulator step-down module includes an AMS117-3.3 chip, a tenth capacitor C10, an eleventh capacitor C11, and a twelfth capacitor C12.

[0043] The VIN input pin of the AMS117-3.3 chip is connected to the +5V input voltage. The first end of the tenth capacitor C10 is connected to the VIN input pin to filter the input +5V voltage and obtain a stable +5V voltage for input to the AMS117-3.3 chip.

[0044] The second terminal of the tenth capacitor C10 is connected in parallel with the GND pin of the AMS117-3.3 chip and then connected to the zero-potential reference node GND; the first terminal of the eleventh capacitor C11 and the first terminal of the twelfth capacitor C12 are connected in parallel and then connected to the zero-potential reference node GND.

[0045] After the VOUT output pin of the AMS117-3.3 chip is connected to the second terminal of the eleventh capacitor C11 and the second terminal of the twelfth capacitor C12 respectively, the output voltage is filtered by the filter structure formed by the eleventh capacitor C11 and the twelfth capacitor C12, and a stable +3.3V voltage is output to provide a stable power supply for subsequent circuits.

[0046] Among them, the tenth capacitor C10 is a 100nF capacitor, the eleventh capacitor C11 is a 100nF capacitor, and the twelfth capacitor C12 is a 220μF capacitor.

[0047] In this embodiment, to adapt to the voltage environment of agricultural sites, a high-efficiency, multi-stage step-down power supply architecture is adopted. The MP1584EN-LF-Z chip efficiently converts the 24V input voltage to 5V, and then the AMS117-3.3 chip stably converts the 5V to 3.3V. This combined solution balances conversion efficiency and power purity, providing a stable and reliable energy supply for modules of different voltage levels in the system (such as motors, sensors, and main control chips).

[0048] In the above embodiment, the buzzer alarm module is connected to the main control chip and alarms according to the control commands transmitted from the main control chip.

[0049] In the above embodiments, the basic modules of the microcontroller minimum system include a reset circuit, a power indicator circuit, a real-time clock backup battery circuit, a filter circuit, and a crystal oscillator circuit; each circuit is connected to the main control chip.

[0050] In the reset circuit, the reset button is paired with a 10KΩ resistor and a 100nF capacitor to achieve reliable reset of the microcontroller.

[0051] In the power supply indicator circuit, current is limited by a 10Ω resistor, and the YED0603R LED is used to indicate the system power supply status.

[0052] The real-time clock backup battery circuit has two 1N4148W diodes to prevent power supply interference and is filtered by a 100nF capacitor. The CR1220-2 battery supplies power to the real-time clock when the main power supply fails.

[0053] The filter circuit consists of multiple 100nF capacitors to filter out power supply ripple. In the crystal oscillator circuit, a 32.768kHz crystal oscillator Y1 and two 10nF capacitors provide the clock signal for the real-time clock, while an 8MHz crystal oscillator Y2 and two 20pF capacitors provide the reference for the system clock.

[0054] In the above embodiments, the control circuit also includes a button module. This module allows for manual adjustment of the stationary rubber tapping robot, enabling it to move in different directions and perform emergency stops. The button module includes multiple manual adjustment button interfaces and a main switch interface. In this embodiment, six external adjustment button interfaces are used, and a main switch is used to prevent accidental activation.

[0055] In the above embodiments, the control circuit also includes external device interfaces. This embodiment has 26 external device interfaces, including: 2 DC motor interfaces, 1 stepper motor controller interface, 1 controller power interface, 4 photoelectric sensor interfaces, 1 SWD debugging interface, 1 ultrasonic sensor interface, 1 Bluetooth module interface, 3 emergency stop indicator interfaces, 2 power indicator interfaces, 1 battery interface, 1 power switch interface, 2 USB-to-serial interfaces, and 6 external debugging button interfaces. The multiple external device interfaces achieve a high degree of modularity and scalability. The control circuit also has several reserved expansion interfaces.

[0056] In this embodiment, all external connections are achieved through standardized 2.54mm pitch terminals, making hardware assembly, function additions / removals, and subsequent maintenance extremely flexible. Simultaneously, a manual debugging module with anti-accidental touch functionality is included. This module integrates multiple independent debugging buttons and a master switch, facilitating precise on-site calibration and maintenance while completely preventing production accidents caused by accidental touches in automatic operation mode.

[0057] In the above embodiments, such as Figure 5 As shown, the control circuit is mounted on a circuit board with a two-layer PCB structure to optimize for cost-sensitive agricultural applications. A two-layer PCB means that both sides of the board are covered with conductive copper foil, and electrical connections are achieved between the two layers through vias. Compared to the simplest single-sided board, a two-layer board allows for separate wiring on both sides, offering greater layout flexibility, higher wiring density, and the ability to implement more complex circuit functions. Furthermore, the Vin+, Vin−, I²C signal lines, and motor power paths are partitioned at the PCB layout level, and a star grounding method is used to reduce the impact of high-current loops on signal acquisition and improve resistance to vibration and dI / dt transients. Through meticulous layout and wiring, manufacturing costs are significantly reduced while ensuring signal integrity and power stability, removing obstacles to the large-scale industrialization of stationary rubber tapping robots.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control circuit for a stationary rubber tapping robot, characterized in that, include: The current monitoring module is used to monitor the current and power of the z-axis and circular DC motors and stepper motors in the fixed rubber tapping robot, and transmit the monitored current and power signals to the main control chip. The main control chip is used to receive the current and power signals of the DC motor and stepper motor transmitted from the current monitoring module. Based on the transmission relationship between the motor and the cutter of the fixed rubber tapping robot, it determines the actual force on the cutter during the rubber tapping process. Then, based on the difference between the actual force value and the preset force value of the cutter, it determines the output control signal and feeds it back to the DC motor and stepper motor. The buzzer alarm module, based on the control signals transmitted by the main control chip, is used to provide audible alarms when DC motors and stepper motors are overloaded or in emergency stop condition. DC-DC and linear regulator step-down modules adjust the voltage provided by the external power supply system to power various components; The basic module of the microcontroller minimum system is used to provide clock signals and reset signals to the main control chip, and to transmit them to the main control chip after filtering out power supply ripple.

2. The control circuit for a fixed rubber tapping robot as described in claim 1, characterized in that, The control circuit employs three current monitoring modules, which are used to monitor the current and power of the z-axis DC motor, the circular DC motor, and the stepper motor, respectively; all current monitoring modules are implemented based on the INA226 chip.

3. The control circuit for a stationary rubber tapping robot as described in claim 2, characterized in that, The current monitoring module includes an INA226 chip, a MOSFET, a TVS diode, a filter inductor L1, first resistors R1 to ninth resistors R9, a first capacitor C1, a second capacitor C2, and an amplifier U1. The VIN+ pin of the INA226 chip is connected to the TVS+ terminal of the TVS transistor via the first resistor R1. The other end of the TVS transistor is connected to a 24V power supply. The 24V power supply is transmitted to the first terminal of the first capacitor C1 after EMI filtering by the filter inductor L1. The second terminal of the first capacitor C1 is connected to the second terminal of the third resistor R3, which serves as the first sampling resistor. The first terminal of the third resistor R3 is connected to the positive terminal of the motor. The two ends of the third resistor R3 are connected in parallel as the fourth resistor R4, which is the second sampling resistor. The first end of the third resistor R3 is connected to the first end of the fifth resistor R5, and the second end of the fifth resistor R5 is connected to the drain of the MOSFET. The gate of the MOSFET is grounded, and the source of the MOSFET is connected to the inverting input of the amplifier U1. Sampling is performed by switching different sampling resistors through the MOSFET. The positive terminal of amplifier U1 is connected to the TVS+ terminal of the TVS transistor. The output terminal of amplifier U1 serves as the output terminal of the current monitoring module, outputting the monitored current and power. Amplifier U1 also functions as a peak current comparator to achieve microsecond-level overcurrent protection and quickly cut off the motor drive. The VIN- pin of the INA226 chip is connected to the second terminal of the third resistor R3 and the second terminal of the first capacitor C1 via the second resistor. The VBUS pin of the INA226 chip is connected to the 24V power supply. The GND pin of the INA226 chip is connected to the zero-potential reference node GND. The VS+ pin is connected to the zero-potential reference node GND via the second capacitor C2 used for filtering. The SDA and SCL pins of the INA226 chip are connected to the first terminal of the eighth resistor R8 and the first terminal of the ninth resistor R9, respectively. The second terminals of the eighth resistor R8 and the second terminals of the ninth resistor R9 are connected in parallel and then connected to the 5V power supply and the VS+ pin, respectively. The A1 and A0 pins of the INA226 chip are connected to the first end of the sixth resistor R6 and the first end of the seventh resistor R7, respectively. The second ends of the sixth resistor R6 and the second ends of the seventh resistor R7 are connected in parallel to the zero potential reference node GND.

4. The control circuit for a stationary rubber tapping robot as described in claim 3, characterized in that, The first sampling resistor is a 2mΩ precision sampling resistor, and the second sampling resistor is a 200μΩ sampling resistor. The 2mΩ precision sampling resistor is used for high current monitoring during the motor cutting stage, and the 200μΩ sampling resistor is used for low-current high-precision detection during the low-speed positioning stage. Different sampling channels are automatically switched through a MOSFET.

5. The control circuit for a stationary rubber tapping robot as described in claim 3, characterized in that, Based on the current output by amplifier U1, and using the relationship between motor power and current, and based on the known rated voltage of the motor, the measured current is calculated as the real-time output power of the motor. The motor torque is calculated based on the relationship between the motor's power and its torque. Then, based on the transmission relationship between the output torque and torque of the cutter and the motor, the real-time output torque of the motor is deduced back into the actual force on the cutter during the rubber cutting process.

6. The control circuit for a stationary rubber tapping robot as described in claim 1, characterized in that, DC-DC and linear regulator step-down modules include 24V-5V DC-DC chip step-down modules and 5V-3.3V linear regulator step-down modules; The 24V-5V DC-DC step-down module is used to step down the external power supply from 24V to 5V to power the high-voltage load unit, and the 5V-3.3V linear regulator step-down module is used to step down the external power supply from 5V to 3.3V to power the low-voltage functional unit. The high-voltage load unit includes two DC motors and a stepper motor, while the low-voltage functional unit includes a sensor module, a communication module, a buzzer alarm module, indicator lights, and a debugging and operation module.

7. The control circuit for a stationary rubber tapping robot as described in claim 6, characterized in that, The 24V-5V DC-DC step-down module includes the MP1584EN-LF-Z chip, the second inductor L2, the first diode D1, the third capacitor C3 to the ninth capacitor C9, and the tenth resistor R10 to the fifteenth resistor R15. The VIN input pin of the MP1584EN-LF-Z chip is connected in parallel with the first terminal of the tenth resistor R10, the first terminal of the third capacitor C3, and the first terminal of the fourth capacitor C4, and then connected to a 24V power supply. The second terminals of the third capacitor C3 and the fourth capacitor C4 are connected to the zero-potential reference node GND. The third capacitor C3 and the fourth capacitor C4 are used to filter and stabilize the voltage. The second terminal of the tenth resistor R10 is connected to the first terminal of the eleventh resistor R11, and the second terminal of the eleventh resistor R11 is connected to the zero-potential reference node GND. The EN pin of the MP1584EN-LF-Z chip is connected to the first terminal of the eleventh resistor R11. The FREQ pin of the MP1584EN-LF-Z chip is connected to the zero-potential reference node GND via the twelfth resistor R12. The GND pin is connected in parallel with the EP pin and then connected to the zero-potential reference node GND. The fifth capacitor C5 used for filtering in series on the COMP pin of the MP1584EN-LF-Z chip is connected to the first end of the thirteenth resistor R13, and the second end of the thirteenth resistor R13 is connected to the zero potential reference node GND; a feedback network is formed through the tenth resistor R10 to the thirteenth resistor R13. The FB pin of the MP1584EN-LF-Z chip is connected to the first end of the fourteenth resistor R14, and the second end of the fourteenth resistor R14 is connected to the zero-potential reference node GND. The first end of the fourteenth resistor R14 is also connected to the first end of the fifteenth resistor R15. Voltage is divided by the fourteenth resistor R14 and the fifteenth resistor R15, and the second end of the fifteenth resistor R15 is connected to the output of the 24V-5V step-down module to output the stepped-down 5V voltage. The SW pin of the MP1584EN-LF-Z chip is connected to the negative terminal of the first diode D1, and the positive terminal of the first diode D1 is connected to the zero-potential reference node GND. The negative terminal of the first diode D1 is connected to the output terminal of the 24V-5V step-down module through the second inductor L2. Energy is stored and transferred through the second inductor L2 to achieve voltage conversion, and the first diode D1 provides inductor freewheeling to prevent reverse high voltage. And the sixth capacitor C6, the seventh capacitor C7 and the eighth capacitor C8 for filtering are connected in parallel between the second inductor L2 and the output terminal; The BST pin of the MP1584EN-LF-Z chip is connected to the negative terminal of the first diode D1 via the ninth capacitor C9. The ninth capacitor C9 filters and stabilizes the voltage and participates in frequency setting.

8. The control circuit for a stationary rubber tapping robot as described in claim 6, characterized in that, The 5V-3.3V linear regulator step-down module includes an AMS117-3.3 chip, tenth capacitor C10, eleventh capacitor C11, and twelfth capacitor C12; The VIN input pin of the AMS117-3.3 chip is connected to the +5V input voltage. The first end of the tenth capacitor C10 is connected to the VIN input pin to filter the input +5V voltage and obtain a stable +5V voltage for input to the AMS117-3.3 chip. The second terminal of the tenth capacitor C10 is connected in parallel with the GND pin of the AMS117-3.3 chip and then connected to the zero-potential reference node GND; the first terminal of the eleventh capacitor C11 and the first terminal of the twelfth capacitor C12 are connected in parallel and then connected to the zero-potential reference node GND. After the VOUT output pin of the AMS117-3.3 chip is connected to the second terminal of the eleventh capacitor C11 and the second terminal of the twelfth capacitor C12 respectively, the output voltage is filtered by the filter structure formed by the eleventh capacitor C11 and the twelfth capacitor C12, and a stable +3.3V voltage is output.

9. The control circuit for a stationary rubber tapping robot as described in claim 1, characterized in that, The control circuit includes a backup battery module. The voltage provided by the external power supply system is transmitted to the backup battery module and then filtered by the basic module to power the main control chip and the basic module. The control circuit also includes a button module, an external device interface, and multiple reserved expansion interfaces; The button module includes multiple manual adjustment button interfaces and a master switch interface; There are 26 external device interfaces. All external connections are made using standardized 2.54mm pitch terminal blocks.

10. The control circuit for a stationary rubber tapping robot as described in claim 1, characterized in that, The control circuit is mounted on a circuit board, which uses a two-layer PCB structure.

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