Motor power supply circuit and method of operation thereof

Abstract

The disclosure provides a motor power supply circuit and a working method thereof, and relates to the technical fields of intelligent robots and industrial robots. The motor power supply circuit comprises an inverter circuit connected with a motor, a first diode with a positive electrode connected with a power supply and a negative electrode connected with the inverter circuit, a relay with a first end connected between the power supply and the positive electrode of the first diode and a second end grounded, and a switch with a first end connected between the negative electrode of the first diode and the inverter circuit and a second end grounded, wherein the switch is turned off when the relay is powered on, and the switch is turned on when the relay is powered off.

Description

Technical Field

[0001] This disclosure relates to the fields of intelligent robots and industrial robots, and in particular to a motor power supply circuit and its working method. Background Technology

[0002] With the development of intelligence and mechanization, robots are being used more and more widely. Taking health monitoring robots as an example, they can move freely in the home environment and measure and monitor various parameters such as the user's vital signs, blood oxygen, blood pressure, respiratory rate, electrocardiogram, body temperature, and sleep status, and actively issue warnings, thereby enabling care and attention for the elderly.

[0003] The robot's arms and head are equipped with motion joints driven by permanent magnet synchronous motors, allowing for free movement of the arms and head. Electrodes are mounted on the arms, enabling the monitoring of health parameters such as heart rate and body fat when the user grips the robot's arms. The robot's head can rotate left, right, and tilt. Summary of the Invention

[0004] One objective of this disclosure is to improve the safety and reliability of circuits.

[0005] According to one aspect of some embodiments of this disclosure, a motor power supply circuit is provided, comprising: an inverter circuit connected to a motor; a first diode, the anode of which is connected to a power supply and the cathode of which is connected to the inverter circuit; a relay, the first terminal of which is connected to the power supply and the second terminal of which is grounded; and a switch, the first terminal of which is connected to the cathode of the first diode and the second terminal of which is grounded, wherein the switch is open when the relay is energized and closed when the relay is de-energized.

[0006] In some embodiments, the motor power supply circuit further includes a shunt switch device connected in parallel with the first diode, wherein the shunt switch device is turned on when the first diode is forward-biased and turned off when the first diode is cut off.

[0007] In some embodiments, the motor power supply circuit further includes: a PMOS (P-Metal Oxide Semiconductor) transistor, the source of which is connected to the negative terminal of the first diode, and the drain of which is connected to the positive terminal of the first diode. The motor power supply circuit further includes: a first resistor, the first end of which is connected to the negative terminal of the first diode; and a second resistor, the first end of which is connected to the second end of the first resistor and the gate of the PMOS transistor, and the second end of which is grounded.

[0008] In some embodiments, the motor power supply circuit further includes: an energy storage capacitor, the first end of which is connected to the negative terminal of the first diode, and the second end of which is grounded.

[0009] In some embodiments, the motor power supply circuit further includes a third resistor, the first end of which is connected to the power supply and the positive terminal of the first diode, and the second end of which is connected to the first terminal of the relay.

[0010] In some embodiments, the motor power supply circuit further includes a fourth resistor, the first end of which is connected to the negative terminal of the first diode and the inverter circuit, and the second end of which is connected to the first end of the switch.

[0011] In some embodiments, the inverter circuit includes multiple bridge arm branches connected in parallel, each bridge arm branch including a first switching circuit and a second switching circuit connected in series, the first switching circuit being connected to the negative terminal of a first diode, and the second switching circuit being grounded, wherein the motor is connected between the first switching circuit and the second switching circuit.

[0012] In some embodiments, the first switching circuit includes:

[0013] The second diode, the anode of which is connected to the second switching circuit, and the cathode of which is connected to the cathode of the first diode; the first switching device, the first terminal of which is connected to the anode of the second diode, and the second terminal of which is connected to the cathode of the second diode; and the fifth resistor, the first terminal of which is connected to the second terminal of the first switching device, and the second terminal of which is connected to the control terminal of the first switching device.

[0014] In some embodiments, the second switching circuit includes: a third diode, the negative terminal of which is connected to the first switching circuit and grounded; a second switching device, the first terminal of which is connected to the positive terminal of the third diode and the second terminal of which is connected to the negative terminal of the third diode; and a sixth resistor, the first terminal of which is connected to the second terminal of the second switching device and the second terminal of which is connected to the control terminal of the second switching device.

[0015] In some embodiments, each bridge arm branch includes a sampling resistor, and the second switching circuit is grounded through the sampling resistor; the motor power supply circuit further includes: a digital-to-analog converter connected between the second switching circuit and the sampling resistor, configured to acquire the sampling current and send a corresponding sampling signal to the controller; and a controller connected to the control terminal of the bridge arm branch, configured to control the conduction state of the bridge arm branch according to the sampling signal.

[0016] According to one aspect of some embodiments of this disclosure, a method for operating a motor power supply circuit is provided. Any of the motor power supply circuits mentioned above includes: when the power supply is stopped, a relay is de-energized and a switch is turned on, so that the current released by the motor is released through the switch.

[0017] In some embodiments, the working method further includes: when the power supply is on, the relay is energized and the switch is opened, so that the current output by the power supply flows to the motor through the inverter circuit.

[0018] In some embodiments, the motor power supply circuit includes a shunt switch device connected in parallel with the first diode, which is turned on when the first diode is forward-biased and turned off when the first diode is cut off. The operating method further includes at least one of the following: when the power supply is stopped, the first diode is in a reverse-biased cutoff state, and the shunt switch device is turned off to prevent the current released by the motor from flowing to the power supply; when the power supply is on, the first diode is turned on, and the shunt switch device is turned on, so that the current flows through the first diode and the shunt switch device to the inverter circuit. In some embodiments, the operating method further includes: when the power supply starts to output current, the current flows through the first diode to the inverter circuit, and the first resistor and the second resistor are energized; a voltage difference is generated across the first resistor, wherein the source voltage of the PMOS transistor is greater than the gate voltage of the PMOS transistor; the PMOS transistor is turned on, and the current flows through the PMOS transistor to the inverter circuit.

[0019] In some embodiments, the motor power supply circuit further includes an energy storage capacitor, with a first terminal connected to the negative terminal of a first diode and a second terminal grounded. The operating method further includes: charging the energy storage capacitor when the power supply is on; and discharging the energy storage capacitor to slow down the rate of voltage change when the power supply is off.

[0020] In some embodiments, the motor power supply circuit includes multiple parallel bridge arm branches, each bridge arm branch including a first switching circuit and a second switching circuit connected in series. The first switching circuit is connected to the negative terminal of a first diode, the second switching circuit is grounded, and the motor is connected between the first switching circuit and the second switching circuit. The operating method further includes: when the power supply is on, the first switching circuit and the second switching circuit adjust their switching states under the control of the controller so that the current from the power supply flows to the motor through the first switching circuit, and the current output by the motor is released through the second switching circuit.

[0021] In some embodiments, the first switching circuit includes: a second diode, a first switching device, and a fifth resistor. The anode of the second diode is connected to the second switching circuit, and the cathode of the second diode is connected to the cathode of the first diode. The first terminal of the first switching device is connected to the anode of the second diode, and the second terminal of the first switching device is connected to the cathode of the second diode. The first terminal of the fifth resistor is connected to the second terminal of the first switching device, and the second terminal of the fifth resistor is connected to the control terminal of the first switching device. The second switching circuit includes: a third diode, a second switching device, and a sixth resistor. The cathode of the third diode is connected to the first switching circuit and is grounded. The first terminal of the second switching device is connected to the anode of the third diode, and the second terminal of the second switching device is connected to the cathode of the third diode. The first terminal of the sixth resistor is connected to the second terminal of the second switching device, and the second terminal of the sixth resistor is connected to the control terminal of the second switching device. The operating method further includes: when the power supply is stopped, the first and second switching devices are disconnected, and the current output by the motor flows through the second diode to the switch. Attached Figure Description

[0022] The accompanying drawings, which are included to provide a further understanding of this disclosure and form part of this disclosure, illustrate exemplary embodiments of this disclosure and are used to explain this disclosure, but do not constitute an undue limitation of this disclosure.

[0023] Figure 1 Schematic diagrams of some embodiments of the motor power supply circuit of this disclosure.

[0024] Figure 2 Schematic diagrams of other embodiments of the motor power supply circuit of this disclosure.

[0025] Figure 3 Schematic diagrams of some embodiments of the inverter circuit in the motor power supply circuit of this disclosure.

[0026] Figure 4 Schematic diagrams of further embodiments of the motor power supply circuit of this disclosure.

[0027] Figure 5 This is a schematic diagram of the current flow direction of the motor power supply circuit of this disclosure in the power supply operation state.

[0028] Figure 6 This is a schematic diagram of the current flow in the motor power supply circuit of this disclosure when the power supply is stopped.

[0029] Figure 7 Flowcharts showing some embodiments of the operation method of the motor power supply circuit of this disclosure.

[0030] Figure 8 Flowcharts showing some other embodiments of the operation of the motor power supply circuit of this disclosure. Detailed Implementation

[0031] The technical solutions of this disclosure will be further described in detail below with reference to the accompanying drawings and embodiments.

[0032] The inventors discovered that when a robot is powered off, its joints, such as its arms or head, can rotate under external forces (such as gravity or user rotation). During this rotation, the joint motors convert the mechanical energy into electrical energy, and the voltage of this electrical energy is related to the rotational speed and acceleration. The accumulation of this electrical energy can damage the robot's internal electronic components and circuitry. Furthermore, the electrical energy can even flow back into the robot's entire electronic system, affecting the device's safety, reliability, and lifespan.

[0033] To address the aforementioned issues, this disclosure proposes a motor power supply circuit and its operating method, which enables electrical energy discharge even when the power supply is unavailable and the motor converts mechanical energy into electrical energy. This improves the safety and reliability of the circuit, thereby enhancing the safety and reliability of the equipment and extending its service life.

[0034] Schematic diagrams of some embodiments of the motor power supply circuit disclosed herein are shown below. Figure 1 As shown in the image.

[0035] One end of the motor power supply circuit is connected to the power source 11, which is the power source for the motor; the other end of the motor power supply circuit is connected to the motor 12. In some embodiments, the motor 12 can be a permanent magnet synchronous motor.

[0036] The motor power supply circuit includes an inverter circuit 13, a first diode D1, a relay 14, and a switch 15 controlled by the relay 14. When the relay 14 is energized, the switch 15 is open; when the relay 14 is de-energized, the switch 15 is closed.

[0037] like Figure 1 As shown, inverter circuit 13 is connected to motor 12. The positive terminal of first diode D1 is connected to power supply 11, and the negative terminal is connected to inverter circuit 13. The first terminal of relay 14 is connected to power supply 11 and the positive terminal of first diode D1, and the second terminal is grounded. The first terminal of switch 15 is connected to the negative terminal of first diode D1 and inverter circuit 13, and the second terminal of switch 15 is grounded.

[0038] In the circuit described above, when power supply 11 outputs current, relay 14 is energized, and switch 15 remains open. The output current of power supply 11 is transmitted to inverter circuit 13 via D1, and then supplied to motor 12. When power supply 12 stops outputting current (e.g., when the equipment is turned off), relay 14 is de-energized, and switch 15 is turned on. The reverse current generated by motor 12 is then discharged through switch 15 after passing through inverter circuit 13. At the same time, D1 is reverse-biased to prevent current from flowing back to power supply 11.

[0039] Based on the motor power supply circuit in the above embodiment, it can supply power to the motor under normal working conditions and conduct the energy discharge path when the power supply is stopped, so that the current generated by the motor can be discharged in time, improving the safety and reliability of the circuit, thereby improving the safety and reliability of the equipment and extending the service life of the equipment.

[0040] In some embodiments, the motor power supply circuit further includes a shunt switch device connected in parallel with the first diode. The shunt switch device is turned on when the first diode is forward conducting and turned off when the first diode is off. The resistance of the shunt switch device is less than the forward conduction resistance of the first diode, thereby reducing the energy loss of the first diode, avoiding severe heat generation in the first diode, and further improving the reliability and safety of the circuit.

[0041] In some embodiments, such as Figure 1 As shown, the aforementioned shunt switching device may include a PMOS transistor 16, and the motor power supply circuit may also include a first resistor R1 and a second resistor R2. The PMOS transistor 16 is connected in parallel with a first diode D1, wherein the source S is connected to the cathode of the first diode, and the drain D is connected to the anode of the first diode. The first terminal of the first resistor R1 is connected to the cathode of the first diode D1, and the second terminal of the first resistor R1 is grounded through the second resistor R2. The gate G of the PMOS transistor 16 is connected between the first resistor R1 and the second resistor R2.

[0042] In the above circuit, when power supply 11 outputs current, relay 14 is energized, and switch 15 remains open. D1 is forward-biased, so current flows through resistors R1 and R2, creating a voltage difference across resistor R1. This causes the source voltage of PMOS transistor 16 to be higher than the gate voltage, turning on the PMOS transistor. The current flows through the PMOS transistor to the inverter circuit 13, which then supplies power to motor 12. When power supply 12 stops outputting current (e.g., when the device is turned off), relay 14 is de-energized, and switch 15 is turned on. The reverse current generated by motor 12, after passing through inverter circuit 13, is discharged through switch 15. Simultaneously, D1 is reverse-biased to prevent current from flowing back through D1, and PMOS transistor 16 is turned off to prevent current from flowing back through PMOS transistor 16.

[0043] Based on the motor power supply circuit in the above embodiment, considering that there will be a voltage drop of 0.3V~0.7V when the current passes through D1, and that the heat generation will be severe when the current is large, while the on-resistance of PMOS is very small, usually in the milliohm level, and the power supply current mainly flows through PMOS1, thus the current in D1 is small, reducing the energy loss in D1, avoiding severe heat generation in D1, and further improving the reliability and safety of the circuit.

[0044] In some embodiments, such as Figure 2 As shown, the motor power supply circuit also includes an energy storage capacitor C1, with its first end connected to the negative terminal of the first diode D1 and the inverter circuit 13, and its second end grounded.

[0045] Based on the motor power supply circuit in the embodiment shown above, the energy storage capacitor C1 is charged when the power supply 11 has output current and discharged when the power supply 11 stops outputting current, thereby reducing the fluctuation rate of the power supply in the entire circuit and improving the stability of the system voltage.

[0046] In some embodiments, such as Figure 2 As shown, the motor power supply circuit also includes a third resistor R3. The first terminal of the relay 14 is connected to the power supply 12 and the positive terminal of the first diode D1 via the third resistor. Based on the motor power supply circuit in the embodiment shown above, the third resistor can reduce the current flowing through the relay, further improving the circuit's safety.

[0047] In some embodiments, such as Figure 2 As shown, the motor power supply circuit also includes a fourth resistor R4. The first terminal of switch 15 is connected to the cathode of the first diode D1 and the inverter circuit 13 via the fourth resistor R4. Based on the motor power supply circuit in the embodiment shown above, the fourth resistor can reduce the current flowing through the switch, converting electrical energy into heat energy for dissipation, and further improving the safety of the circuit.

[0048] In some embodiments, the inverter circuit in the motor power supply circuit of this disclosure includes multiple parallel bridge arm branches. Each bridge arm branch includes a first switching circuit and a second switching circuit connected in series. The first switching circuit is connected to the negative terminal of a first diode, the second switching circuit is grounded, and the motor is connected between the first switching circuit and the second switching circuit. Figure 3 As shown, the inverter circuit can be a three-phase inverter circuit, including three bridge arm branches, thus adapting to the permanent magnet synchronous motor.

[0049] Taking one of the bridge arm branches as an example, it includes a first switching circuit 131 and a second switching circuit 132. The first switching circuit 131 includes a second diode D2 and a first switching device (e.g., an NMOS transistor NMOS1) connected in parallel. The anode of the second diode D2 is connected to the second switching circuit 132, and the cathode of the second diode is connected to the cathode of the first diode D1; the source S of the first NMOS transistor NMOS1 is connected to the anode of the second diode D2, and the drain D of the first NMOS transistor NMOS1 is connected to the cathode of the second diode D2. In addition, the first switching circuit 131 also includes a fifth resistor R5, connected between the gate and source of the first NMOS transistor. The switching on and off of the first NMOS transistor is controlled by a controller connected to the gate G. In the other two bridge arm branches, the first switching circuit of one branch includes a second diode D3 and a first NMOS transistor NMOS2 connected in parallel, and a fifth resistor R6; the first switching circuit of the other branch includes a second diode D4 and a first NMOS transistor NMOS3 connected in parallel, and a fifth resistor R7, and its operating principle is similar to that of the first switching circuit 131.

[0050] In the circuit described above, when power supply 11 outputs current, the current flows through the first switching circuit 131 to the motor 12; the current output by motor 12 flows back through the second switching circuit. This drives the opening and closing of NMOS1~NMOS6 on the three branches, driving the permanent magnet synchronous motor to rotate. When power supply 11 stops outputting current and the motor outputs electrical energy, the second switching circuit is disconnected. Since the source voltage of the first switching circuit is higher than the gate voltage, NMOS1 is cut off, and the current is transmitted through the second diode and discharged through the switch mentioned above.

[0051] Based on the motor power supply circuit in the above embodiments of this disclosure, the motor can be driven to rotate when the power supply outputs current, and when the power supply does not output current, the direction of the current output by the motor can be controlled to ensure that the current is released through the circuit where the switch is located, thereby avoiding damage to electronic components and circuits and further improving the safety of the circuit.

[0052] In some embodiments, taking one of the bridge arm branches as an example, the second switching circuit 132 includes a third diode D5 and a second switching device (e.g., an NMOS transistor NMOS4) connected in parallel. The cathode of the third diode D5 is connected to the first switching circuit 131, and the cathode of the third diode D5 is grounded; the source of the second NMOS transistor NMOS4 is connected to the anode of the third diode, and the drain of the second NMOS transistor NMOS4 is connected to the cathode of the third diode D5. Furthermore, the second switching circuit 132 also includes a sixth resistor R8 connected between the gate and source of the second NMOS transistor. In the other two bridge arm branches, the second switching circuit of one branch includes a third diode D6 and a second NMOS transistor NMOS5 connected in parallel, and a sixth resistor R9; the first switching circuit of the other branch includes a third diode D7 and a second NMOS transistor NMOS6 connected in parallel, and a sixth resistor R10, and its operating principle is similar to that of the second switching circuit 132.

[0053] In the circuit described above, when the power supply 11 stops outputting current and the motor outputs electrical energy, the third diode in the second switching circuit is reverse-biased and the second NMOS transistor cannot reach the conduction condition, and NMOS2 is cut off, thereby limiting the current to flow in the direction of the first switching circuit.

[0054] Based on the motor power supply circuit in the above embodiments of this disclosure, the direction of the current output by the motor can be controlled when there is no output current from the power supply, ensuring that the current is released through the circuit where the switch is located, avoiding damage to electronic components and circuits, and further improving the safety of the circuit.

[0055] In some embodiments, the motor power supply circuit of this disclosure is as follows: Figure 4 As shown, each bridge arm branch includes a sampling resistor, such as sampling resistors R11-R13, and the second switching circuit is grounded through the sampling resistor. The motor power supply circuit also includes a digital-to-analog converter 17, connected between the second switching circuit and the sampling resistor, which can collect the current flowing through the U, V, and W phase coils of the motor, and report it to the controller after passing through the analog-to-digital converter. The controller 18 (via the three-phase high and low side power MOS driver chip 19) is connected to the control terminal of the bridge arm branch and can control the conduction state of the bridge arm branch according to the sampling signal.

[0056] Such a power supply circuit dissipates the energy output by the motor through the sampling resistor, while also allowing the controller to understand the operating status of the U, V, and W phase coils, thereby generating corresponding control signals and forming a current closed loop for motor control. In some embodiments, the power supply circuit may also include a magnetic encoder 20 on the permanent magnet synchronous motor side, which can collect the angle value of the motor rotor and report it to the controller to form a position closed loop for motor control.

[0057] based on Figure 4The circuit shown illustrates the device states and current flow direction of the motor power supply circuit under power supply operation as follows: Figure 5 As shown in the diagram, the arrows indicate the direction of the current. Current flows through the first diode D1 to the motor drive circuit. The gate voltage of PMOS transistor 16, after being divided by resistors R1 and R2, is less than the source voltage, causing PMOS 1 to turn on. Power supply 12 flows through the current-limiting resistor R3 and then through the relay, whose normally closed terminal (NC point) is open. The controller controls the NMOS transistors via the three-phase high- and low-side MOS driver chips: NMOS 1, NMOS 5, and NMOS 6 are on, and the rest are off; or NMOS 3, NMOS 4, and NMOS 5 are on, and the rest are off; or NMOS 2, NMOS 4, and NMOS 6 are on, and the rest are off; or NMOS 2, NMOS 3, and NMOS 4 are on, and the rest are off; or NMOS 1, NMOS 3, and NMOS 5 are on, and the rest are off; or NMOS 1, NMOS 2, and NMOS 6 are on, and the rest are off. The controller dynamically adjusts the NMOS transistor turn-on combination and turn-on time based on the magnetic encoding, the acquired motor stator orientation, and the current value acquired by the sampling resistor.

[0058] based on Figure 4 The circuit shown illustrates the device states and current flow direction of the motor power supply circuit in this disclosure when the power supply is interrupted, as follows: Figure 6 As shown in the image, the arrows indicate the direction of the current.

[0059] With no power output, no current flows through the relay, and the relay's NC point is closed. When the joint is rotated by an external force, the permanent magnet synchronous motor outputs electrical energy through UVW. Because a resistor is connected in series between the gate (G) and source (S) terminals of the NMOS transistor, NMOS1~NMOS6 are in the off state the instant the permanent magnet synchronous motor generates electrical energy. Therefore, the electrical energy output by UVW can only flow into the positive terminals of D2~D3 and out through the negative terminal. The PMOS transistor is in the cutoff state, and the electrical energy cannot flow back to the power supply side. The electrical energy flows into resistor R4 and then to ground. The electrical energy generated by the motor is consumed by the power resistor R4, thus preventing damage to other circuits.

[0060] The motor power supply circuit disclosed herein can be used to power the motors of various joints of a robot, for example, in a health monitoring robot. The health monitoring robot operates in a home environment, moving freely indoors and actively monitoring the user's vital signs; the user can also issue commands to the robot. The robot uploads the monitored vital sign data to the cloud, where a health inference model calculates the results and sends them back to the robot, which can then display the results to the user via a monitor and voice. In case of an emergency, the robot can connect to an emergency center and upload the user's status information, facilitating assessment by emergency personnel. The robot is equipped with multiple joints, enabling arm and head movements. Using the motor power supply circuit disclosed herein avoids the backflow of electrical energy generated by the motors into the robot's electronic system due to passive joint movement when the robot is powered off, thereby improving the safety and reliability of the device, reducing the probability of robot malfunction, and extending the robot's lifespan.

[0061] Flowcharts of some embodiments of the operating method of the motor power supply circuit disclosed herein are as follows: Figure 7 As shown, the operation of the motor power supply circuit is based on the motor power supply circuit in any of the embodiments shown above.

[0062] In step S71, when the power supply to the motor power supply circuit stops, for example when the device is turned off, step S72 is triggered.

[0063] In step S72, the power supply stops outputting current, causing the relay to lose power and triggering the execution of step S73.

[0064] In step S73, the relay loses power, causing the NC point of the relay (the switch shown in the above embodiment) to close, and triggering the execution of step S74.

[0065] In step S74, the current released by the motor is released through the closed switch. In some embodiments, as mentioned in the above-described embodiments, due to the passive movement of parts such as joints, the motor converts kinetic energy into electrical energy. The current is transmitted in the reverse direction along the inverter circuit and released through the closed switch, or converted into heat energy and released through the resistor connected to the switch.

[0066] Based on the method in the embodiments shown above, the power discharge path can be opened when the power supply is stopped, so that the current generated by the motor can be discharged in time, improving the safety and reliability of the circuit, thereby improving the safety and reliability of the equipment and extending the service life of the equipment.

[0067] In some embodiments, based on the motor power supply circuit in any of the embodiments shown above, the operating method of the motor power supply circuit of this disclosure further includes: when the power supply starts to output current, the relay is energized, the switch is opened, and the current output by the power supply flows to the motor through the inverter circuit. Based on the method in the embodiments shown above, energy waste can be avoided when the power supply is working normally, and the motor can work normally.

[0068] In some embodiments, the motor power supply circuit can be Figure 2 , 4 The circuit in the illustrated embodiment includes a first resistor, a second resistor, and a PMOS transistor. The operating method of the motor power supply circuit disclosed herein further includes: when the power supply stops outputting current, the first diode is in a reverse cutoff state, and the PMOS transistor is cut off, preventing the current released by the motor from flowing to the power supply, thereby improving the safety and reliability of the circuit.

[0069] In some embodiments, the motor power supply circuit can be Figure 2 , 4 The circuit in the illustrated embodiment includes a first resistor, a second resistor, and a PMOS transistor. The operation method of the motor power supply circuit disclosed herein further includes: when the power supply starts outputting current, the current flows through the first diode to the inverter circuit, and the first and second resistors are energized; a voltage difference is generated across the first resistor, wherein the source voltage of the PMOS transistor is greater than the gate voltage of the PMOS transistor; the PMOS transistor is turned on, and the current flows through the PMOS transistor to the inverter circuit. Through this method, under normal power supply conditions, the power current mainly flows through PMOS1, reducing energy loss in D1, avoiding severe overheating in D1, and further improving the reliability and safety of the circuit.

[0070] In some embodiments, the motor power supply circuit can be Figure 2 , 4 The circuit in the illustrated embodiment includes an energy storage capacitor. The operation of the motor power supply circuit of this disclosure further includes: charging the energy storage capacitor when the power supply begins to output current; and discharging the energy storage capacitor when the power supply stops outputting current to slow down the rate of voltage change. This method can reduce the fluctuation rate of the entire circuit power supply and improve the stability of the system voltage.

[0071] In some embodiments, the inverter circuit in the motor power supply circuit includes multiple bridge arm branches connected in parallel, for example... Figure 3 or Figure 4The inverter circuit shown is illustrated. The operation of the motor power supply circuit disclosed herein further includes: when the power supply is outputting current, the first switching circuit and the second switching circuit adjust their switching states under the control of the controller, wherein the current from the power supply flows to the motor through the first switching circuit, and the current output by the motor is released through the second switching circuit. This method enables the motor to rotate when the power supply is outputting current, and controls the direction of the current output by the motor when the power supply is not outputting current, ensuring that the current is released through the circuit where the switch is located, avoiding damage to electronic components and circuits, and further improving circuit safety.

[0072] In some embodiments, each bridge arm branch in the inverter circuit of the motor power supply circuit is as follows: Figure 3 , 4 As shown in the figure. The operation method of the motor power supply circuit disclosed herein further includes: when the power supply stops outputting current, the first NMOS transistor and the second NMOS transistor are turned off, and the current output by the motor flows to the switch through the second diode. In this way, when there is no power supply outputting current, the direction of the current output by the motor can be controlled to ensure that the current is released through the circuit where the switch is located, avoiding damage to electronic components and circuits, and further improving the safety of the circuit.

[0073] Flowcharts of other embodiments of the operation method of the motor power supply circuit disclosed herein are as follows: Figure 8 As shown, based on Figure 4 , 5 The motor power supply circuit shown in Figure 6.

[0074] In step 801, when the robot is working normally, the power supply output is normal, the NC terminal of the relay is disconnected, and the power supply is supplied through the PMOS.

[0075] In step 802, after the robot is powered off, there is no power output and the NC terminal of the relay is closed.

[0076] In step 803, when the joint is rotated by an external force, the motor generates electrical energy, which is output by UVW. Since NMOS1~NMOS6 are in the off state, the electrical energy output by UVW can only flow into the positive terminal of D2~D4 and out of the negative terminal.

[0077] In step 804, PMOS1 is in the off state, and the generated electrical energy flows to ground through the power resistor R4, where it is converted into heat energy and discharged.

[0078] Based on the method in the embodiments shown above, the electrical energy generated by the passive movement of the robot's joints can be discharged through a safe path, thereby avoiding the accumulation of electrical energy that could damage the robot's internal electronic components and circuits. This achieves the backflow prevention and discharge of electrical energy generated by the joints, improving the robot's safety and reliability, and helping to extend its service life.

[0079] This concludes the detailed description of the present disclosure. To avoid obscuring the concept of the disclosure, some details known in the art have not been described. Those skilled in the art will fully understand how to implement the technical solutions disclosed herein based on the above description.

[0080] It should be noted that the terms "first," "second," etc., used in the specification, claims, and drawings of this disclosure are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this disclosure described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this disclosure and not to limit them; although this disclosure has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications can still be made to the specific implementation of this disclosure or equivalent substitutions can be made to some technical features without departing from the spirit of the technical solutions of this disclosure, and all such modifications and substitutions should be covered within the scope of the technical solutions claimed in this disclosure.

Claims

1. A motor power supply circuit, comprising: Inverter circuit, connected to the motor; The first diode has its anode connected to the power supply and its cathode connected to the inverter circuit. A relay, wherein the first terminal of the relay is connected to the power supply, and the second terminal of the relay is grounded; A switch, wherein the first terminal of the switch is connected to the negative terminal of the first diode, and the second terminal of the switch is grounded. Specifically, when the relay is energized, the switch is open; when the relay is de-energized, the switch is closed.

2. The motor power supply circuit according to claim 1 further includes: A shunt switch is connected in parallel with the first diode, wherein the shunt switch is turned on when the first diode is forward-biased and turned off when the first diode is cut off.

3. The motor power supply circuit according to claim 2, wherein, The shunt switching device includes a P-type metal-oxide-semiconductor (PMOS) transistor, the source of which is connected to the negative terminal of the first diode, and the drain of which is connected to the positive terminal of the first diode. The motor power supply circuit also includes: The first resistor, the first end of the first resistor is connected to the negative terminal of the first diode; The second resistor has its first end connected to the second end of the first resistor and the gate of the PMOS transistor, and its second end grounded.

4. The motor power supply circuit according to claim 1 further includes: An energy storage capacitor, wherein the first end of the energy storage capacitor is connected to the negative terminal of the first diode, and the second end of the energy storage capacitor is grounded.

5. The motor power supply circuit according to claim 1 further includes at least one of a third resistor and a fourth resistor, wherein, The first end of the third resistor is connected to the power supply and the positive terminal of the first diode, the second end of the third resistor is connected to the first end of the relay, the first end of the fourth resistor is connected to the negative terminal of the first diode and the inverter circuit, and the second end of the fourth resistor is connected to the first end of the switch.

6. The motor power supply circuit according to claim 1, wherein, The inverter circuit includes multiple bridge arm branches connected in parallel. Each bridge arm branch includes a first switching circuit and a second switching circuit connected in series. The first switching circuit is connected to the negative terminal of the first diode, and the second switching circuit is grounded. The motor is connected between the first switching circuit and the second switching circuit.

7. The motor power supply circuit according to claim 6, wherein, The first switching circuit includes: The second diode has its anode connected to the second switching circuit and its cathode connected to the cathode of the first diode. A first switching device, wherein a first terminal of the first switching device is connected to the anode of the second diode, and a second terminal of the first switching device is connected to the cathode of the second diode; and The fifth resistor has its first end connected to the second end of the first switching device, and its second end connected to the control terminal of the first switching device.

8. The motor power supply circuit according to claim 6 or 7, wherein, The second switching circuit includes: The third diode, the negative terminal of which is connected to the first switching circuit, and the negative terminal of which is grounded; A second switching device, wherein a first terminal of the second switching device is connected to the anode of the third diode, and a second terminal of the second switching device is connected to the cathode of the third diode; and The sixth resistor has its first end connected to the second end of the second switching device, and its second end connected to the control terminal of the second switching device.

9. The motor power supply circuit according to claim 6, wherein, Each bridge arm branch includes a sampling resistor, and the second switching circuit is grounded through the sampling resistor. The motor power supply circuit also includes: A digital-to-analog converter, connected between the second switching circuit and the sampling resistor, is configured to acquire the sampling current and send a corresponding sampling signal to the controller; and The controller, connected to the control terminal of the bridge arm branch, is configured to control the conduction state of the bridge arm branch according to the sampled signal.

10. A method for operating a motor power supply circuit, based on the motor power supply circuit according to any one of claims 1-9, comprising: When the power supply stops, the relay is de-energized, and the switch is turned on, so that the current released by the motor is released through the switch.

11. The working method according to claim 10, further comprising: When the power supply is on, the relay is energized and the switch is turned off, so that the current output by the power supply flows to the motor through the inverter circuit.

12. The working method according to claim 9 or 10, wherein, The motor power supply circuit includes a shunt switch device connected in parallel with the first diode, which conducts when the first diode is forward-biased and disconnects when the first diode is cut off. The working method also includes at least one of the following: When the power supply stops, the first diode is in reverse cutoff state, and the shunt switch is disconnected to prevent the current released by the motor from flowing to the power supply. When the power supply is on, the first diode is turned on and the shunt switch is turned on, so that current flows through the first diode and the shunt switch to the inverter circuit.

13. The working method according to claim 10, wherein, The motor power supply circuit also includes an energy storage capacitor, the first terminal of which is connected to the negative terminal of the first diode, and the second terminal of which is grounded. The working method also includes: When the power supply is on, the energy storage capacitor is charged; When the power supply stops, the energy storage capacitor discharges to slow down the rate of voltage change.

14. The working method according to claim 10, wherein, The motor power supply circuit includes multiple parallel bridge arm branches. Each bridge arm branch includes a first switching circuit and a second switching circuit connected in series. The first switching circuit is connected to the cathode of the first diode, and the second switching circuit is grounded. The motor is connected between the first switching circuit and the second switching circuit. The working method further includes: when the power supply is on, the first switching circuit and the second switching circuit adjust their switching states under the control of the controller, so that the current from the power supply flows to the motor through the first switching circuit, and the current output by the motor is released through the second switching circuit.

15. The working method according to claim 14, wherein, The first switching circuit includes: a second diode, a first switching device, and a fifth resistor. The anode of the second diode is connected to the second switching circuit, and the cathode of the second diode is connected to the cathode of the first diode. A first terminal of the first switching device is connected to the anode of the second diode, and a second terminal of the first switching device is connected to the cathode of the second diode. A first terminal of the fifth resistor is connected to the second terminal of the first switching device, and a second terminal of the fifth resistor is connected to the control terminal of the first switching device. The second switching circuit includes: a third diode, a second switching device, and a sixth resistor. The cathode of the third diode is connected to the first switching circuit and is grounded. A first terminal of the second switching device is connected to the anode of the third diode, and a second terminal of the second switching device is connected to the cathode of the third diode. A first terminal of the sixth resistor is connected to the second terminal of the second switching device, and a second terminal of the sixth resistor is connected to the control terminal of the second switching device. The working method further includes: when the power supply is stopped. When the first and second switching devices are disconnected, the current output by the motor flows through the second diode to the switch.

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