High-side 48V switching circuit for mechanical arm

Abstract

The utility model discloses a high-side 48V switching circuit for a mechanical arm, which relates to the field of circuits, and is characterized in that a 48V voltage source is respectively connected with a main power supply circuit, a charging and discharging circuit and a controller, and the controller is connected with the mechanical arm and a detection control circuit; the main power supply circuit and the charging and discharging circuit are internally provided with MOS (Metal Oxide Semiconductor) tubes for controlling the on-off of the circuit, and the main power supply circuit and the charging and discharging circuit are respectively connected with the mechanical arm; the detection control circuit is connected to the main power supply circuit, the charging and discharging circuit and the mechanical arm, controls on-off of MOS tubes in the main power supply circuit and the charging and discharging circuit during working, and detects bus voltage in the mechanical arm. A switch MOS tube is arranged in the detection control circuit, and the turn-on signal amplitude of the switch MOS tube is controlled by controlling a gate control signal; according to the scheme, when the switching-on signal amplitude of the switch MOS tube is controlled to be smaller than the threshold voltage, the MOS tubes in the main power supply circuit and the charging and discharging circuit are controlled to be in the normal working range and cannot be broken down by overvoltage.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of circuits, and in particular to a high-side 48V switch circuit for a robotic arm. Background Art

[0002] With the rapid development of industry, more and more intelligent devices are put into production, which significantly improves productivity. As an intelligent device to assist production, collaborative robots have been more and more widely used. Generally, collaborative robots mainly consist of two parts: a controller and a robotic arm. The controller is responsible for the motion control of the robotic arm, collects and receives the status information of the tool end, and issues corresponding control instructions based on the status information of the tool end. The robotic arm is mainly responsible for moving the tool end to the specified position according to the path planned by the controller. Due to the high power of the robotic arm, a 48V power supply is mostly used. The controller needs to be powered all the time to facilitate user operation and real-time understanding of the robot's status information. In order to prevent misoperation, the robotic arm is usually powered off when not in operation.

[0003] The mainstream solution on the market is to use a dual power supply of 24V and 48V. The 24V power supply is a standby power supply that is always in power supply state and is used by the controller. The robotic arm is powered by a 48V power supply. It is not powered by default and is only powered when working. When the controller receives the power-on command for the robotic arm, it controls the electromagnetic relay to close the normally open contacts of the electromagnetic relay to achieve the purpose of controlling the 48V power supply of the robotic arm. In addition, since the robotic arm often needs to brake during movement, and the motor will generate back electromotive force during braking, causing the power supply voltage to be too high, exceeding the safe working range of the components on the single board, so a discharge board is often required for discharge when overvoltage occurs.

[0004] This control method requires a special control cabinet to fix the 24V and 48V switching power supplies, and it must be used with electromagnetic relays and discharge boards. There are many devices used, which takes up a large space. There are strict requirements on space during factory site layout and installation. Limited by the power limit of MOSFET (Metal Oxide Semiconductor Field Effect Transistor), when MOSFET is directly used to replace electromagnetic relays as the switch to control the power supply of the robot arm, MOSFET is often damaged due to overcurrent or overvoltage and cannot meet the use requirements. Utility Model Content

[0005] An embodiment of the present application provides a high-side 48V switch circuit for a robotic arm, which solves the problem of braking discharge of the robotic arm and overcurrent or overvoltage breakdown damage of MOSFET in the circuit.

[0006] The high-side 48V switch circuit for the robotic arm includes a single-board 48V voltage source, a main power supply circuit, a charging and discharging circuit, a detection control circuit, and a protection circuit;

[0007] The 48V voltage source is respectively connected to the main power supply circuit, the charging and discharging circuit and the controller, and the controller is respectively connected to the connecting robot arm and the detection control circuit to perform braking control on the robot arm and the detection control circuit;

[0008] The main power supply circuit and the charge-discharge circuit are connected with MOS tubes for controlling the on-off of the circuit, and the main power supply circuit and the charge-discharge circuit are respectively connected to the mechanical arm to provide working voltage for the mechanical arm; the detection control circuit is also respectively connected to the main power supply circuit, the charge-discharge circuit, and the mechanical arm, and controls the on-off of the MOS tubes in the main power supply circuit and the charge-discharge circuit, and detects the bus voltage in the mechanical arm during operation;

[0009] A switch MOS tube is provided in the detection control circuit, and the protection circuit is connected to the detection control circuit, and the turn-on signal amplitude of the switch MOS tube is controlled by controlling the gate signal voltage; when the turn-on signal amplitude of the switch MOS tube is less than the threshold voltage, the MOS tubes in the main power supply circuit and the charge and discharge circuit are in the normal working range and are not broken down by overvoltage.

[0010] Specifically, the charging and discharging circuit includes a discharging circuit, a charging circuit and current limiting resistors R11 and R12;

[0011] The 48V voltage source is connected to the current limiting resistor R11, the current limiting resistor R11 is connected in series with R12, and is connected to the charging circuit through R12, the charging circuit outputs the bus voltage and is connected to the robot arm;

[0012] The discharge circuit is connected between the current limiting resistors R11 and R12, and the detection control circuit is connected to and controls the discharge circuit and the charging circuit respectively.

[0013] Specifically, the MOS tube Q1 in the charging circuit is connected between the current limiting resistor R12 and the mechanical arm, and the drain of Q1 is connected to the current limiting resistor R12, the bus voltage output by the source is connected to the mechanical arm, and the gate inputs the start signal Pre-S of the charging circuit;

[0014] The drain of the MOS tube Q3 in the discharge circuit is connected between the current limiting resistors R11 and R12, the source output of Q2 is grounded, and the gate inputs the discharge circuit opening signal DIS;

[0015] The switch MOS tube Q2 in the detection control circuit is connected to a common source with Q1, and the drain of Q2 is connected to a 48V voltage source, and the gate is connected to the start-up signal Main-S of the main power supply circuit.

[0016] Specifically, the detection control circuit includes three optocouplers U1, U2 and U3, a voltage stabilizing diode U4 and an AND gate U5;

[0017] The two input terminals of the AND gate U5 are input with two power-on enable signals output by the controller, and the two outputs are grounded through two parallel voltage-dividing resistors respectively;

[0018] The output of the AND gate U5 is connected to the first optocoupler U1 and the third optocoupler U3 at the same time, wherein the diode output in the first optocoupler U1 is grounded, the collector of the phototransistor inputs the gate control signal VGATE output by the protection circuit, and the emitter outputs the start-up signal Main-S of the main power supply circuit;

[0019] The diode output in the third optical coupler U3 is grounded, the collector of the phototransistor is connected to the bus voltage of the robotic arm, and the emitter is connected to two voltage-dividing resistors R1 and R2 in series and grounded;

[0020] The second optocoupler U2 inputs the power supply VCC of the logic part of the single board, and the output is connected to the positive electrode of the Zener diode U4. The negative electrode output of the Zener diode U4 is grounded. At the same time, the base of the Zener diode is connected between the voltage dividing resistors R1 and R2.

[0021] Specifically, the detection control circuit also includes a voltage stabilizing diode U6, an inverter U7, and several current limiting resistors;

[0022] The positive electrode of the voltage-stabilizing diode U6 is connected to the power supply VCC of the single board through a voltage-dividing resistor, and the negative electrode output is grounded. The bus voltage of the robotic arm is grounded through two series-connected voltage-dividing resistors R6 and R7, and the base of the voltage-stabilizing diode U6 is connected between the voltage-dividing resistors R6 and R7;

[0023] The input end of the inverter U7 is connected to the anode of the voltage-stabilizing diode U6, and outputs a discharge circuit activation signal DIS.

[0024] Specifically, when the two power-on enable signals output by the controller are effectively high, the gate chip U5 outputs a high-level signal, the first optocoupler U1 and the third optocoupler U3 are turned on, the gate signal VGATE outputs an opening signal Pre-S through the first optocoupler U1, the MOS tube Q1 in the charging circuit is turned on, and the bus voltage of the robotic arm rises;

[0025] When the bus voltage of the robotic arm rises to the set threshold voltage Vth, the voltage regulator diode U4 outputs a low level, the second optocoupler U2 is turned on, and the gate signal VGATE outputs the turn-on signal Main-S through the second optocoupler U2. The MOS tube Q2 in the main power supply circuit is turned on, and the power supply of the robotic arm is cut to the path of the main power supply circuit to complete the power-on.

[0026] Specifically, when the robot arm bus voltage is greater than the set threshold voltage Vth, the voltage regulator diode U6 outputs a low level, and the turn-on signal DIS output by the inverter turns on the MOS tube Q3 in the discharge circuit, and the robot arm bus discharges through the current limiting resistors R11 and R12 until the bus voltage drops to less than the threshold voltage Vth.

[0027] Specifically, the Zener diode is turned on when the base voltage is greater than the internal reference voltage of 2.5V, and is turned off when the base voltage is less than the internal reference voltage of 2.5V.

[0028] Specifically, the protection circuit includes a voltage stabilizing diode U10, and U13, an AND gate U11, and a fourth optical coupler U12;

[0029] The positive electrode of the voltage zener diode U10 is connected to the ground through the two input ports of the AND gate U11 at the same time, and the negative electrode is grounded; the single board 48V voltage source is grounded through two series-connected voltage divider resistors R20 and R21, and the base of the voltage zener diode U10 is connected between the voltage divider resistors R20 and R21;

[0030] The output of the AND gate U11 is connected to the fourth optocoupler U12, and the output of the fourth optocoupler U12 is grounded; the collector of the phototransistor in the fourth optocoupler U12 inputs the gate signal VGATE, and the emitter output is connected to the anode of the Zener diode U13, and the cathode of the Zener diode U13 is grounded.

[0031] Specifically, when the 48V voltage source of the single board is lower than the threshold voltage, the voltage regulator diode U10 outputs a high level, the fourth optical coupler U12 is turned on, and the gate signal VGATE is clamped to the rated operating voltage of the voltage regulator tube.

[0032] The beneficial effects brought by the technical solution provided by the embodiment of the present application include at least: the solution separately sets a charging and discharging circuit, a detection control circuit and a protection circuit composed of a charging circuit and a discharging circuit in the circuit, and especially introduces an optocoupler device in the detection control circuit to generate an on-off signal for controlling the on and off of the MOS tubes in the charging circuit and the discharging circuit. When the bus voltage is overvoltage, the on-off signal of the MOS tube is controlled to discharge to achieve bus voltage regulation. The optocoupler introduced in the protection circuit can control the amplitude of the on-off signal to prevent the MOSFET in the main power supply circuit and the charging and discharging point circuit from breaking down due to overvoltage. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a structural schematic diagram of a high-side 48V switch circuit provided in an embodiment of the present application;

[0034] Figure 2 This is a detailed diagram of the high-side 48V switch circuit;

[0035] Figure 3 is based on Figure 2 A simplified circuit diagram of the connection relationship;

[0036] Figure 4 It is a detailed circuit diagram of the detection control circuit;

[0037] Figure 5 It is a circuit diagram of the protection circuit. DETAILED DESCRIPTION

[0038] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below with reference to the accompanying drawings.

[0039] The term "multiple" as used herein refers to two or more than two. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the related objects are in an "or" relationship.

[0040] Figure 1 It is a structural schematic diagram of the high-side 48V switching circuit provided in an embodiment of the present application. The switching circuit introduces a 48V voltage source, specifically including a 48V voltage source arranged on a single board, a main power supply circuit 2, a charging and discharging circuit 3, a detection control circuit 5, and a protection circuit 6.

[0041] The single-board 48V voltage source is used as the total input to provide the working voltage of each circuit module, which is respectively connected to the main power supply circuit 2, the charging and discharging circuit 3 and the controller 1. The controller 1 is respectively connected to the connecting robot arm 4 and the detection control circuit 5 to perform braking control on the robot arm 5 and the detection control circuit 5.

[0042] In order to solve the problem raised in this application, a MOS tube for controlling the on / off of the circuit is connected in the main power supply circuit 2 and the charge / discharge circuit 3, and the main power supply circuit 2 and the charge / discharge circuit 3 are respectively connected to the mechanical arm 4 to provide working voltage for the mechanical arm 1. The detection control circuit 5 is also respectively connected to the main power supply circuit 2, the charge / discharge circuit 3, and the mechanical arm 4, and specifically controls the on / off of the MOS tubes in the main power supply circuit 2 and the charge / discharge circuit 3, and detects the bus voltage in the mechanical arm 4 during operation. The bus voltage is the voltage output from the main power supply circuit 2 or the charge / discharge circuit 3 to the mechanical arm 4.

[0043] The detection control circuit 5 is provided with a switch MOS tube, and the protection circuit 6 is connected to the detection control circuit 5, and controls the amplitude of the turn-on signal of the switch MOS tube in the detection control circuit 5 by controlling the gate signal. Specifically, the amplitude of the turn-on signal of the switch MOS tube in the detection control circuit 5 is controlled to be less than the threshold voltage, that is, when working within a safe amplitude range, the MOS tubes in the main power supply circuit 2 and the charge and discharge circuit 3 can be in a normal working range and will not be broken down by overvoltage. The gate signal is an input voltage signal introduced separately by the high-side 48V switch circuit, which is used to maintain the normal on and off and conduction of the circuit.

[0044] Figure 2 Detailed diagram of the high-side 48V switch circuit. The charge-discharge circuit 3 includes a discharge circuit 32, a charging circuit 31, and current limiting resistors R11 and R12. The 48V voltage source is connected to the current limiting resistor R11, the current limiting resistor R11 is connected in series with R12, and is connected to the charging circuit 31 through R12. The charging circuit 31 outputs the bus voltage and is connected to the robot arm 4. The discharge circuit 32 is connected between the current limiting resistors R11 and R12, and the detection control circuit 5 is respectively connected to and controls the discharge circuit 32 and the charging circuit 31.

[0045] Figure 3 is based on Figure 2 The simplified circuit diagram of the connection relationship is particularly noted that the charge and discharge circuit 3 is a larger circuit module, and the charging circuit 31 and the discharge circuit 32 belong to the module unit. In this design scheme, only the key circuit structure is listed according to the technical problem, that is, the simplified circuit structure, and does not represent the complete charge and discharge circuit structure. According to the foregoing content of this embodiment, the MOS tube Q1 in the charging circuit 31 is connected between the current limiting resistor R12 and the mechanical arm, and the drain of Q1 is connected to the current limiting resistor R12, the bus voltage output by the source is connected to the mechanical arm, and the gate inputs the start-up signal Pre-S of the charging circuit. In particular, for the convenience of circuit description, the bus voltage connected to the mechanical arm is expressed as 48VOUT.

[0046] In the discharge circuit 32 , the drain of the MOS transistor Q3 is connected between the current limiting resistors R11 and R12 , the source output of Q2 is grounded, and the gate inputs the discharge circuit start-up signal DIS.

[0047] In the detection control circuit 5, the switch MOS tube Q2 is connected to the source of Q1, and the drain of Q2 is connected to the 48V voltage source, and the gate is connected to the start signal Main-S of the main power supply circuit.

[0048] The gates of the three MOS tubes are controlled by three turn-on signals respectively, and the key to this embodiment is to control the three turn-on signals.

[0049] Figure 4It is a detailed circuit diagram of the detection control circuit, which specifically includes three optocouplers U1, U2 and U3, a voltage stabilizing diode U4 and an AND gate U5. The two input ends of the AND gate U5 input the two power-on enable signals (i.e., 48VOFFA8 and 48VOFFKV) output by the controller 1, and the two outputs are grounded through two parallel voltage-dividing resistors R4 and R5.

[0050] The output of the AND gate U5 is simultaneously connected to the first optocoupler U1 and the third optocoupler U3, wherein the diode output in the first optocoupler U1 is grounded, the collector of the phototransistor inputs the gate control signal VGATE output by the protection circuit, and the emitter outputs the start-up signal Main-S of the main power supply circuit. Correspondingly, the diode output in the third optocoupler U3 is grounded, the collector of the phototransistor is connected to the bus voltage 48VOUT of the robotic arm 4, and the emitter is connected to two voltage-dividing resistors R1 and R2 connected in series, and the output of R2 is grounded. The second optocoupler U2 inputs the power supply VCC of the logic part of the single board, and the output is connected to the positive electrode of the voltage-dividing diode U4, and the negative electrode of the voltage-dividing diode U4 is grounded, and the base of the voltage-dividing diode is connected between the voltage-dividing resistors R1 and R2.

[0051] In addition, the detection control circuit 5 also includes a voltage-stabilizing diode U6, an inverter U7, and a plurality of current-limiting resistors. The positive electrode of the voltage-stabilizing diode U6 is connected to the power supply VCC of the single board through a voltage-dividing resistor, and the negative electrode is output to ground. The bus voltage of the robot 4 is grounded through two series-connected voltage-dividing resistors R6 and R7, and the base of the voltage-stabilizing diode U6 is connected between the voltage-dividing resistors R6 and R7. The input end of the inverter U7 is connected to the positive electrode of the voltage-stabilizing diode U6, and outputs the opening signal DIS of the discharge circuit.

[0052] In the above circuit structure, all the Zener diodes are used as comparators. When the base voltage of the Zener diode is greater than the internal reference voltage of 2.5V, it is turned on, and when it is less than the internal reference voltage of 2.5V, it is turned off. That is, by comparing the base with the internal reference voltage, it is determined whether the Zener diode is outputting conduction, that is, whether the potential value output at the position is high or low.

[0053] In the above structure, when the two power-on enable signals output by the controller 1 are effectively high, the gate chip U5 outputs a high-level signal, the first optocoupler U1 and the third optocoupler U3 are turned on, and the gate signal VGATE is connected to Pre-S, that is, the turn-on signal Pre-S is output through the first optocoupler U1, the MOS tube Q1 in the charging circuit 31 is turned on, and the bus voltage 48VOUT of the robotic arm 4 rises.

[0054] When the bus voltage 48VOUT of the robot 4 rises to the set threshold voltage Vth, the voltage regulator diode U4 outputs a low level, the second optocoupler U2 is turned on, and the gate signal VGATE is connected to Main-S, that is, the second optocoupler U2 outputs the turn-on signal Main-S, the MOS tube Q2 in the main power supply circuit is turned on, and the power supply of the robot 4 is cut to the path of the main power supply circuit 2 to complete the power-on.

[0055] When the bus voltage 48VOUT of the robot 4 is greater than the set threshold voltage Vth, the voltage regulator diode U6 outputs a low level, and the inverter U7 outputs an on signal DIS, thereby turning on the MOS tube Q3 in the discharge circuit 32, and the bus of the robot 4 is discharged through the current limiting resistors R11 and R12 until the bus voltage 48VOUT drops to less than the threshold voltage Vth.

[0056] Figure 5 It is a circuit diagram of a protection circuit, including a voltage-stabilizing diode U10, and U13, an AND gate U11, and a fourth optocoupler U12. The positive electrode of the voltage-stabilizing diode U10 is connected to the two input ports of the AND gate U11 at the same time, and the negative electrode is grounded. The single-board 48V voltage source is grounded through two voltage-dividing resistors R20 and R21 connected in series, and the base of the voltage-stabilizing diode U10 is connected between the voltage-dividing resistors R20 and R21. In addition, the positive electrode of the voltage-stabilizing diode U10 is externally connected to a resistor R22, and the negative electrode is grounded, and R22 is further connected to the power supply VCC. The output of the AND gate U11 is connected to the fourth optocoupler U12, and the output of the fourth optocoupler U12 is grounded. The collector of the phototransistor in the fourth optocoupler U12 inputs the gate control signal VGATE, and the emitter output is connected to the positive electrode of the voltage-stabilizing diode U13, and the negative electrode of the voltage-stabilizing diode U13 is grounded. When the 48V voltage source of the single board is lower than the threshold voltage, the voltage regulator diode U10 outputs a high level, the fourth optical coupler U12 is turned on, and the gate signal VGATE is clamped to the rated working voltage of the voltage regulator tube. Since the optocouplers U1 and U2 in the detection control circuit 5 are both controlled by the gate signal VGATE to control the turn-on signal, after VGATE is clamped to the rated working voltage of the voltage regulator tube, the input voltages of U1 and U2 will be controlled within the set range, and the MOS tubes therein will not be broken down by the protection circuit 6.

[0057] Based on the above circuit, the embodiment of the present application further provides a circuit control method, including the following:

[0058] Step 1: The controller sends a power-on command to the robot arm;

[0059] Step 2: After the detection control circuit (module) receives the power-on command of the robot arm, it sends a turn-on signal of the MOSFET in the charge and discharge circuit (module);

[0060] Step 3: The charging circuit in the charging and discharging circuit (module) is turned on, and the robot arm starts to power on. Limited by the current limiting resistor in the charging and discharging circuit (module), the bus voltage of the robot arm rises slowly;

[0061] Step 4: After the detection control circuit (module) detects that the bus voltage of the robot arm rises to the threshold voltage Vth43.7V, it sends a turn-on signal for the MOSFET in the main power supply circuit, and the voltage of the robot arm further increases to 48V, completing the power-on;

[0062] Step 5: The controller sends a motion command to the robotic arm, and the robotic arm starts to move;

[0063] Step 6: When the detection control circuit (module) detects that the bus voltage of the robot arm is over-voltage, it sends a turn-on signal of the discharge circuit MOSFET in the charge and discharge circuit (module), and the robot arm starts to discharge through the current limiting resistor, and the bus voltage of the robot arm starts to decrease;

[0064] Step 7: When the bus voltage of the robot arm drops to near the normal 48V voltage, the detection control (module) sends a shutdown signal of the discharge circuit MOSFET in the charge and discharge circuit (module), and the robot arm stops discharging;

[0065] If the robot loses power abnormally, execute step 8, otherwise execute steps 6 and 7 in a normal cycle;

[0066] Step 8. When the robot arm loses power abnormally, the protection circuit (module) operates and sends a protection signal to the detection control circuit (module), limiting the amplitude of the MOSFET turn-on signal output by the detection control circuit (module) to prevent the MOSFET in the main power supply circuit and the charging circuit from breaking down due to overvoltage.

[0067] In summary, this solution sets up a charging and discharging circuit, a detection control circuit and a protection circuit separately in the circuit. In particular, an optocoupler device is introduced in the detection control circuit to generate an on-off signal for controlling the on and off of the MOS tubes in the charging circuit and the discharging circuit. When the bus voltage is overvoltage, the on-off signal of the MOS tube is controlled to discharge to achieve bus voltage regulation. The optocoupler introduced in the protection circuit can control the amplitude of the on-off signal to prevent the MOSFET in the main power supply circuit and the charging and discharging circuit from breaking down due to overvoltage.

[0068] The preferred embodiments of the present invention are described above; it should be understood that the present invention is not limited to the above-mentioned specific implementation modes, and the devices and structures not described in detail should be understood to be implemented in a common manner in the art; any technician familiar with the art can make many possible changes and modifications without departing from the technical solution of the present invention, or modify them into equivalent embodiments with equivalent changes, which does not affect the essential content of the present invention; therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of protection of the technical solution of the present invention.

Claims

1. A high-side 48V switch circuit for a robotic arm, characterized in that: It includes a single-board 48V voltage source, a main power supply circuit, a charging and discharging circuit, a detection and control circuit, and a protection circuit; The 48V voltage source is respectively connected to the main power supply circuit, the charging and discharging circuit and the controller, and the controller is respectively connected to the connecting robot arm and the detection control circuit to perform braking control on the robot arm and the detection control circuit; The main power supply circuit and the charge-discharge circuit are connected with MOS tubes for controlling the on-off of the circuit, and the main power supply circuit and the charge-discharge circuit are respectively connected to the mechanical arm to provide working voltage for the mechanical arm; the detection control circuit is also respectively connected to the main power supply circuit, the charge-discharge circuit, and the mechanical arm, and controls the on-off of the MOS tubes in the main power supply circuit and the charge-discharge circuit, and detects the bus voltage in the mechanical arm during operation; A switch MOS tube is provided in the detection control circuit, and the protection circuit is connected to the detection control circuit, and the turn-on signal amplitude of the switch MOS tube is controlled by controlling the gate signal voltage; when the turn-on signal amplitude of the switch MOS tube is less than the threshold voltage, the MOS tubes in the main power supply circuit and the charge and discharge circuit are in the normal working range and are not broken down by overvoltage.

2. The high-side 48V switch circuit for a robotic arm according to claim 1, characterized in that: The charging and discharging circuit includes a discharging circuit, a charging circuit and current limiting resistors R11 and R12; The 48V voltage source is connected to the current limiting resistor R11, the current limiting resistor R11 is connected in series with R12, and is connected to the charging circuit through R12, the charging circuit outputs the bus voltage and is connected to the robot arm; The discharge circuit is connected between the current limiting resistors R11 and R12, and the detection control circuit is connected to and controls the discharge circuit and the charging circuit respectively.

3. The high-side 48V switch circuit for a robotic arm according to claim 2, characterized in that: The MOS tube Q1 in the charging circuit is connected between the current limiting resistor R12 and the mechanical arm, and the drain of Q1 is connected to the current limiting resistor R12, the bus voltage output by the source is connected to the mechanical arm, and the gate inputs the start signal Pre-S of the charging circuit; The drain of the MOS tube Q3 in the discharge circuit is connected between the current limiting resistors R11 and R12, the source output of Q2 is grounded, and the gate inputs the discharge circuit opening signal DIS; The switch MOS tube Q2 in the detection control circuit is connected to a common source with Q1, and the drain of Q2 is connected to a 48V voltage source, and the gate is connected to the start-up signal Main-S of the main power supply circuit.

4. The high-side 48V switch circuit for a robotic arm according to claim 3, characterized in that: The detection control circuit includes three optocouplers U1, U2 and U3, a voltage stabilizing diode U4 and an AND gate U5; The two input terminals of the AND gate U5 are input with two power-on enable signals output by the controller, and the two outputs are grounded through two parallel voltage-dividing resistors respectively; The output of the AND gate U5 is connected to the first optocoupler U1 and the third optocoupler U3 at the same time, wherein the diode output in the first optocoupler U1 is grounded, the collector of the phototransistor inputs the gate control signal VGATE output by the protection circuit, and the emitter outputs the start-up signal Main-S of the main power supply circuit; The diode output in the third optical coupler U3 is grounded, the collector of the phototransistor is connected to the bus voltage of the robotic arm, and the emitter is connected to two voltage-dividing resistors R1 and R2 in series and grounded; The second optocoupler U2 inputs the power supply VCC of the logic part of the single board, and the output is connected to the positive electrode of the Zener diode U4. The negative electrode output of the Zener diode U4 is grounded. At the same time, the base of the Zener diode is connected between the voltage dividing resistors R1 and R2.

5. The high-side 48V switch circuit for a robot arm according to claim 4, characterized in that: The detection control circuit also includes a voltage stabilizing diode U6, an inverter U7, and a plurality of current limiting resistors; The positive electrode of the voltage-stabilizing diode U6 is connected to the power supply VCC of the single board through a voltage-dividing resistor, and the negative electrode output is grounded. The bus voltage of the robotic arm is grounded through two series-connected voltage-dividing resistors R6 and R7, and the base of the voltage-stabilizing diode U6 is connected between the voltage-dividing resistors R6 and R7; The input end of the inverter U7 is connected to the anode of the voltage-stabilizing diode U6, and outputs a discharge circuit activation signal DIS.

6. The high-side 48V switch circuit for a robot arm according to claim 5, characterized in that: When the two power-on enable signals output by the controller are effectively high, the gate chip U5 outputs a high-level signal, the first optocoupler U1 and the third optocoupler U3 are turned on, the gate signal VGATE outputs an opening signal Pre-S through the first optocoupler U1, the MOS tube Q1 in the charging circuit is turned on, and the bus voltage of the robotic arm rises; When the bus voltage of the robotic arm rises to the set threshold voltage Vth, the voltage regulator diode U4 outputs a low level, the second optocoupler U2 is turned on, and the gate signal VGATE outputs the turn-on signal Main-S through the second optocoupler U2. The MOS tube Q2 in the main power supply circuit is turned on, and the power supply of the robotic arm is cut to the path of the main power supply circuit to complete the power-on.

7. The high-side 48V switch circuit for a robot arm according to claim 6, characterized in that: When the voltage of the robot bus is greater than the set threshold voltage Vth, the voltage regulator diode U6 outputs a low level, and the turn-on signal DIS output by the inverter turns on the MOS tube Q3 in the discharge circuit, and the robot bus discharges through the current limiting resistors R11 and R12 until the bus voltage drops below the threshold voltage Vth.

8. The high-side 48V switch circuit for a robotic arm according to any one of claims 4 to 7, characterized in that: When the base voltage of the Zener diode is greater than the internal reference voltage of 2.5V, it is turned on, and when it is less than the internal reference voltage of 2.5V, it is cut off.

9. The high-side 48V switch circuit for a robot arm according to claim 1, characterized in that: The protection circuit includes a voltage stabilizing diode U10, and U13, an AND gate U11, and a fourth optical coupler U12; The positive electrode of the voltage zener diode U10 is connected to the ground through the two input ports of the AND gate U11 at the same time, and the negative electrode is grounded; the single board 48V voltage source is grounded through two series-connected voltage divider resistors R20 and R21, and the base of the voltage zener diode U10 is connected between the voltage divider resistors R20 and R21; The output of the AND gate U11 is connected to the fourth optocoupler U12, and the output of the fourth optocoupler U12 is grounded; the collector of the phototransistor in the fourth optocoupler U12 inputs the gate signal VGATE, and the emitter output is connected to the anode of the Zener diode U13, and the cathode of the Zener diode U13 is grounded.

10. The high-side 48V switch circuit for a robot arm according to claim 9, characterized in that: When the 48V voltage source of the single board is lower than the threshold voltage, the voltage regulator diode U10 outputs a high level, the fourth optical coupler U12 is turned on, and the gate signal VGATE is clamped to the rated operating voltage of the voltage regulator tube.

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